Systems and methods to control a moving underwater vehicle retrieving an ocean bottom seismic data acquisition unit

ABSTRACT

Systems and methods for retrieving seismic data acquisition units from an underwater seismic survey are provided. The system includes an underwater vehicle with a base and an underwater vehicle interlocking mechanism. The underwater vehicle receives environmental information and identifies a seismic data acquisition unit located on an ocean bottom. The underwater vehicle obtains an indication to perform a non-landing retrieval operation. The underwater vehicle sets a position of the underwater vehicle interlocking mechanism to extend away from the base of the underwater vehicle. The underwater vehicle retrieves the seismic data acquisition unit by coupling the underwater vehicle interlocking mechanism with a seismic data acquisition unit interlocking mechanism. The underwater vehicle stores the seismic data acquisition unit and then sets the underwater vehicle interlocking mechanism in a second position to perform the non-landing retrieval operation for a second seismic data acquisition unit.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims the benefit of priority under 35 U.S.C. § 120 asa continuation of U.S. patent application Ser. No. 16/153,258, filedOct. 5, 2018, which is hereby incorporated by reference herein in itsentirety.

BACKGROUND

Seismic data may be evaluated to obtain information about subsurfacefeatures. The information can indicate geological profiles of asubsurface portion of earth, such as salt domes, bedrock, orstratigraphic traps, and can be interpreted to indicate a possiblepresence or absence of minerals, hydrocarbons, metals, or other elementsor deposits.

SUMMARY

Performing an ocean bottom seismic survey to detect the presence orabsence of minerals, hydrocarbons, metals, or other elements or depositscan include placing ocean bottom seismic data acquisition units on theocean bottom or seabed. Depending on the size of the survey, hundreds,thousands or more seismic data acquisition units can be placed atspecific, predetermined positions on the ocean bottom. However, due tothe large size of the seismic survey and the large number of seismicdata acquisition units being deployed, it can be challenging toefficiently deploy and retrieve the large number of seismic dataacquisition units at the specified locations without excessive resourceconsumption or utilization. For example, as the number of seismic dataacquisition units being deployed increases, then the amount of energy,battery resources, or fuel consumed or utilized by the underwatervehicle deploying, placing, or retrieving the seismic data acquisitionsalso increases. Furthermore, as the amount of time taken to deploy theseismic data acquisition units increases, then the amount of resourcesconsumed by a marine vessel can also increase. Similarly, as the numberof data acquisition units to be retrieved increases, the overallresource consumption increase. Thus, it can be technically challengingto perform increasingly larger seismic surveys in an energy efficientand time efficient manner due to the increased amount of time andresources utilized or consumed by the underwater vehicle deploying andretrieving the seismic data acquisition units.

Systems and methods of the present technical solution provide anunderwater vehicle that can deploy or retrieve seismic data acquisitionunits in time and energy efficient manner. For example, the underwatervehicle of the present technical solution can use one or more sensors tocollect environmental information and determine a launch event for theseismic data acquisition unit, and then discharge the seismic dataacquisition unit from the underwater vehicle without landing on theseabed or without slowing down to zero velocity. By discharging seismicdata acquisition units without landing or without slowing down to zerovelocity, the underwater vehicle can reduce the amount of time taken todeploy seismic data acquisition units used to perform the seismicsurvey, thereby reducing the amount of resources consumed by theunderwater vehicle, the marine vessel, or the seismic data acquisitionunits themselves as the operation time can be reduced.

The underwater vehicle can collect environmental information and basedon a policy retrieve seismic data acquisition units from the seabed in anon-landing operation. The underwater vehicle can use interlockingmechanisms to retrieve the deployed seismic data acquisition unitswithout having to land the underwater vehicle on the seabed. Byretrieving seismic data acquisition units without landing, theunderwater vehicle can reduce the amount of time taken to retrieveseismic data acquisition units used to perform the seismic survey,thereby reducing the amount of resources consumed by the underwatervehicle, the marine vessel, or the seismic data acquisition unitsthemselves as the operation time can be reduced.

At least one aspect of the present technical solution is directed to amethod for delivering seismic data acquisition units to an ocean bottom.The method can include an underwater vehicle receiving environmentalinformation. The underwater vehicle can be located in an aqueous medium.The method can include the underwater vehicle obtaining, based on theenvironmental information and a policy, an indication to perform afly-by deployment. The method can include setting, responsive to thedetermination to perform the fly-by deployment and based on theenvironmental information, an angle of a ramp with respect to a base ofthe underwater vehicle. The ramp can have a first end and a second end.The first end of the ramp can be positioned closer to the base of theunderwater vehicle than the second end. The method can include theunderwater identifying a launch event for a seismic data acquisitionunit of the plurality of seismic data acquisition units stored in theunderwater vehicle. The method can include the underwater vehicledeploying the seismic data acquisition unit from the second end of theramp towards the ocean bottom based on the identification of the launchevent and the environmental information.

The underwater vehicle can include a remote operated vehicle tethered toa vessel. The underwater vehicle can include an autonomous underwatervehicle absent a tether to a vessel. The method can include determining,by a control unit external and remote from the underwater vehicle, toperform the fly-by deployment, and transmitting, by the control unit,the indication to the underwater vehicle.

The method can include moving, by the underwater vehicle in the aqueousmedium, with a non-zero velocity having a horizontal component with afirst magnitude in a first direction. The method can include setting theangle of the ramp with respect to a base of the underwater vehicle toresult in deployment of the seismic data acquisition unit from thesecond end of the ramp with a velocity having a horizontal componentwith zero magnitude in a second direction, the second direction beingopposite the first direction.

The method can include the underwater vehicle deploying the seismic dataacquisition unit via the ramp while moving with a first velocity havinga horizontal component with a first magnitude and a first direction. Thefirst velocity can correspond to a travel velocity between subsequentseismic data acquisition unit drop locations. The method can include theunderwater vehicle deploying the seismic data acquisition unit via theramp while hovering over the ocean bottom. The environmental informationcan include at least one of a velocity of the underwater vehicle, anelevation of the underwater vehicle, a turbidity of the aqueous medium,a current of the aqueous medium, a temperature of the aqueous medium, atopography of the ocean bottom, a composition of the ocean bottom, or apresence of marine life or growths.

The method can includes receiving the environmental information via oneor more sensors comprising at least one of a visual sensor, an audiosensor, an accelerometer, sonar, radar, or lidar. The method can includedetermining to perform the fly-by deployment responsive to detecting anabsence of marine life at the ocean bottom. The method can includedetermining, for the seismic data acquisition unit, to perform thefly-by deployment responsive to detecting a current of the aqueousmedium below a current threshold. The method can include blocking, for asecond seismic data acquisition unit, the fly-by deployment responsiveto detecting a level of visibility below a visibility threshold, andlanding, by the underwater vehicle responsive to the blocking of thefly-by deployment, on the ocean bottom to deploy the second seismic dataacquisition unit. The method can include blocking, for a second seismicdata acquisition unit, the fly-by deployment responsive to detection ofan obstruction, and performing, by the underwater vehicle, an emergencystopping process using multiple reverse facing thrusters.

The method can include setting a yaw angle of the ramp based on aforward velocity of the underwater vehicle, a current of the aqueousmedium, and a friction coefficient of the ramp. In some embodiments, theramp corresponds to at least a portion of a helix structure, and theangle corresponds to an orientation angle of the helix structure. Theramp can include a powered ramp.

The method can include identifying the launch event based on a locationor a timing function, wherein the location corresponds to one of atarget location for the seismic data acquisition unit on the oceanbottom or a location of the underwater vehicle when the seismic dataacquisition unit is deployed.

At least one aspect of the present technical solution is directed to asystem to deliver a plurality of seismic data acquisition units to anocean bottom. The system can include an underwater vehicle located in anaqueous medium. The underwater vehicle can include one or more sensorsto determine environmental information. The system can include a controlunit (e.g., a deployment control unit) executed by one or moreprocessors to obtain, based on the environmental information and apolicy, an indication to perform a fly-by deployment. The control unitcan set, responsive to the determination to perform the fly-bydeployment and based on the environmental information, an angle of aramp with respect to a base of the underwater vehicle. The ramp can havea first end and a second end. The first end of the ramp can bepositioned closer to the base of the underwater vehicle than the secondend. The control unit can identify a launch event for a seismic dataacquisition unit of a plurality of seismic data acquisition units storedin the underwater vehicle. The control unit can deploy the seismic dataacquisition unit from the second end of the ramp towards the oceanbottom based on the identification of the launch event and theenvironmental information.

The underwater vehicle can include a remote operated vehicle tethered toa vessel or an autonomous underwater vehicle absent a tether to avessel. The system can include an external control unit remote from theunderwater vehicle to determine to perform the fly-by deployment, andtransmit the indication to the deployment control unit of the underwatervehicle.

The control unit can move the underwater vehicle with a non-zerovelocity having a horizontal component with a first magnitude in a firstdirection. The control unit can set the angle of the ramp with respectto the base of the underwater vehicle to result in deployment of theseismic data acquisition unit from the second end of the ramp with avelocity having a horizontal component with zero magnitude in a seconddirection, the second direction being opposite the first direction.

At least one aspect of the present technical solution is directed to amethod for retrieving seismic data acquisition units from an underwaterseismic survey. The method can include providing, in an aqueous medium,an underwater vehicle comprising a base and an underwater vehicleinterlocking mechanism coupled with the base. The method can include theunderwater vehicle receiving environmental information. The method caninclude the underwater vehicle identifying a seismic data acquisitionunit located on an ocean bottom, the seismic data acquisition unithaving a seismic data acquisition unit interlocking mechanism. Themethod can include the underwater vehicle obtaining, based on theenvironmental information and a policy, an indication to perform anon-landing retrieval operation. The non-landing retrieval operation caninclude moving, without landing the underwater vehicle on the oceanbottom, seismic data acquisition units from the ocean bottom to astorage container. The seismic data acquisition units can store seismicdata indicative of subsurface lithological formations or hydrocarbons.The method can include setting, responsive to the indication to performthe non-landing retrieval operation and based on the environmentalinformation and a location of the identified seismic data acquisitionunit, a position of the underwater vehicle interlocking mechanism toextend away from the base of the underwater vehicle. The method caninclude the underwater vehicle retrieving, in performance of thenon-landing retrieval operation, the seismic data acquisition unit bycoupling the underwater vehicle interlocking mechanism with the seismicdata acquisition unit interlocking mechanism. The method can include theunderwater vehicle storing the seismic data acquisition unit in thestorage container. The method can include the underwater vehicle settingthe underwater vehicle interlocking mechanism in a second position toperform the non-landing retrieval operation for a second seismic dataacquisition unit.

The underwater vehicle can include or refer to a remote operated vehicletethered to a vessel. The underwater vehicle can include or refer to anautonomous underwater vehicle absent (or lacking) a tether to a vessel.The method can include determining, by a control unit external andremote from the underwater vehicle, to perform the non-landing retrievaloperation. The method can include the control unit transmitting theindication to the underwater vehicle. The method can include theunderwater vehicle retrieving the seismic data acquisition unit bycoupling the seismic data acquisition unit interlocking mechanism withthe underwater vehicle interlocking mechanism of the seismic dataacquisition unit the while hovering over the ocean bottom. Theenvironmental information can include at least one of a velocity of theunderwater vehicle, an elevation of the underwater vehicle, a turbidityof the aqueous medium, a current of the aqueous medium, a temperature ofthe aqueous medium, a topography of the ocean bottom, a composition ofthe ocean bottom, or a presence of marine life or growths.

The method can include receiving the environmental information via oneor more sensors comprising at least one of a visual sensor, an audiosensor, an accelerometer, sonar, radar, or lidar. The method can includedetermining to perform the non-landing retrieval operation responsive todetecting an absence of marine life at the ocean bottom. The method caninclude determining, for the seismic data acquisition unit, to performthe non-landing retrieval operation responsive to detecting a current ofthe aqueous medium below a current threshold. The method can includeblocking, for a third seismic data acquisition unit, the non-landingretrieval operation responsive to detecting a level of visibility belowa visibility threshold. The method can include landing, by theunderwater vehicle responsive to the blocking of the non-landingretrieval operation, on the ocean bottom to retrieve the third seismicdata acquisition unit.

The method can include blocking, for a third seismic data acquisitionunit, the non-landing retrieval operation responsive to detection of anobstruction. The method can include the underwater vehicle performing anemergency stopping process using multiple reverse facing thrusters. Theunderwater vehicle can include a robotic arm coupled to the seismic dataacquisition unit interlocking mechanism. The method can include settingan angle of the robotic arm to position the seismic data acquisitionunit interlocking mechanism to retrieve the seismic data acquisitionunit based on the environmental information and the location of theidentified seismic data acquisition unit.

The underwater vehicle interlocking mechanism can have a positivebuoyancy in the aqueous medium. The method can include detecting thatthe underwater vehicle is within a threshold distance from the seismicdata acquisition unit. The method can include extending, by atelescoping mechanism of the underwater vehicle responsive to thedetecting that the underwater vehicle is within the threshold distancefrom the seismic data acquisition unit, the underwater vehicleinterlocking mechanism towards the seismic data acquisition unitinterlocking mechanism of the underwater vehicle.

The method can include detecting that the underwater vehicle is within athreshold distance from the seismic data acquisition unit. The methodcan include activating the underwater vehicle interlocking mechanism tocouple with the seismic data acquisition unit interlocking mechanism.Subsequent to retrieval of the seismic data acquisition unit by theunderwater vehicle, the method can include deactivating the underwatervehicle interlocking mechanism.

The method can include determining the location of the seismic dataacquisition unit using an acoustic beacon. The underwater vehicleinterlocking mechanism can be mechanically decoupled from the seismicdata acquisition unit. The seismic data acquisition unit interlockingmechanism can include at least one of a hook or a clamp.

The method can include identifying, by the underwater vehicle, an objecton the ocean bottom. The method can include determining, based on aseismic data acquisition unit detection policy, not to retrieve theobject. Subsequent to retrieving the seismic data acquisition unit, themethod can include the underwater vehicle traveling at a first speed andidentifying the second seismic data acquisition unit on the oceanbottom. The method can include the underwater vehicle reducing, prior toretrieval of the second seismic data acquisition unit, a speed of theunderwater vehicle to a second speed subsequent to retrieving the secondseismic data acquisition unit. The method can include the underwatervehicle traveling at the first speed, the first speed greater than thesecond speed.

At least one aspect of the present technical solution is directed to asystem. The system can include an underwater vehicle located in anaqueous medium. The underwater vehicle can include a base, an underwatervehicle interlocking mechanism coupled with the base, one or moresensors to determine environmental information, and a retrieval controlunit executed by one or more processors. The retrieval control unit canidentify a seismic data acquisition unit located on an ocean bottom. Theseismic data acquisition unit can be coupled with a seismic dataacquisition unit interlocking mechanism. The retrieval control unit canobtain, based on the environmental information and a policy, anindication to perform a non-landing retrieval operation. The non-landingretrieval operation can include moving, without landing the underwatervehicle on the ocean bottom, seismic data acquisition units from theocean bottom to a storage container. The seismic data acquisition unitscan store seismic data indicative of subsurface lithological formationsor hydrocarbons. The retrieval control unit can (e.g., via one or moreinstructions or commands) set, responsive to the indication to performthe non-landing retrieval operation and based on the environmentalinformation and a location of the identified seismic data acquisitionunit, a position of the underwater vehicle interlocking mechanism toextend away from the base of the underwater vehicle. The retrievalcontrol unit can (e.g., via one or more instructions or commands)couple, in performance of the non-landing retrieval operation, theunderwater vehicle interlocking mechanism with the seismic dataacquisition unit interlocking mechanism to retrieve the seismic dataacquisition unit. The retrieval control unit can (e.g., via one or moreinstructions or commands) store the seismic data acquisition unit in thestorage container. The retrieval control unit can (e.g., via one or moreinstructions or commands) set the underwater vehicle interlockingmechanism in a second position to perform the non-landing retrievaloperation for a second seismic data acquisition unit.

The underwater vehicle can hover over the ocean bottom and couple theseismic data acquisition unit interlocking mechanism with the underwatervehicle interlocking mechanism of the seismic data acquisition unit toretrieve the seismic data acquisition unit.

At least one aspect of the present technical solution is directed to amethod for deploying and retrieving seismic data acquisition units froman underwater seismic survey using the same underwater vehicle. Themethod can include obtaining by the underwater vehicle based onenvironmental information and a deployment policy, an indication toperform fly-by deployment. The method can include setting, responsive tothe determination to perform the fly-by deployment and based on theenvironmental information, an angle of a ramp with respect to a base ofthe underwater vehicle. The ramp can have a first end and a second end.The first end of the ramp can be positioned closer to the base than thesecond end. The method can include identifying, by the underwatervehicle, a launch event for a seismic data acquisition unit. The methodcan include deploying, by the underwater vehicle, the seismic dataacquisition unit from the second end of the ramp towards the oceanbottom based on the identification of the launch event and theenvironmental information. The method can include identifying, by theunderwater vehicle, the seismic data acquisition unit deployed on theocean bottom. The seismic data acquisition unit can have a seismic dataacquisition unit interlocking mechanism. The method can includeidentifying, by the underwater vehicle, a seismic data acquisition unitlocated on an ocean bottom. The method can include obtaining, by theunderwater vehicle based on the environmental information and a policy,an indication to perform a non-landing retrieval operation. Thenon-landing retrieval operation can include moving, without landing theunderwater vehicle on the ocean bottom, seismic data acquisition unitsfrom the ocean bottom to a storage container. The method can includesetting the underwater vehicle interlocking mechanism to extend awayfrom the base to a first position. The method can include retrieving, bythe underwater vehicle, the seismic data acquisition unit by couplingthe underwater vehicle interlocking mechanism with the seismic dataacquisition unit interlocking mechanism.

The method can include obtaining an indication to block the deploymentof a second seismic data acquisition unit at a second location on theocean bottom. The method can include storing the location where thefly-by deployment is blocked. The method can include determining toblock a fly-by retrieval for the location where fly-by deployment waspreviously blocked, or determining to land to retrieve the seismic dataacquisition unit at the location the fly-by deployment was blocked.

At least one aspect of the present technical solution is directed to asystem to deploy and retrieve seismic data acquisition units from anunderwater seismic survey using the same underwater vehicle. The systemcan include an underwater vehicle located in an aqueous medium. Theunderwater vehicle can include a base, an underwater vehicleinterlocking mechanism coupled with the base, or one or more sensors todetermine environmental information. The system can include a retrievalcontrol unit executed by one or more processors. The system can includea deployment control unit executed by the one or more processors. Insome cases, the system can include a single control unit configured toperform or generate instructions or commands to perform both fly-bydeployment and fly-by retrieval operations.

BRIEF DESCRIPTION OF THE DRAWINGS

The details of one or more embodiments of the subject matter describedin this specification are set forth in the accompanying drawings and thedescription below. Other features, aspects, and advantages of thesubject matter will become apparent from the description, the drawings,and the claims. The drawings are not intended to be drawn to scale. Likereference numbers and designations in the various drawings indicate likeelements. For purposes of clarity, not every component may be labeled inevery drawing. In the drawings:

FIG. 1 is an isometric schematic view of an embodiment of a seismicoperation in deep water.

FIG. 2 illustrates a system to deliver seismic data acquisition units inaccordance with an embodiment.

FIG. 3 illustrates an underwater vehicle and a ramp for deployingseismic data acquisition units in accordance with an embodiment.

FIG. 4 illustrates an underwater vehicle and a ramp for deployingseismic data acquisition units in accordance with an embodiment.

FIG. 5 depicts an example ramp in accordance with an embodiment.

FIG. 6 depicts a block diagram of a control circuitry to deploy seismicdata acquisition units in accordance with an embodiment.

FIG. 7 depicts a flow diagram of a method for delivering seismic dataacquisition units to an ocean bottom in accordance with an embodiment.

FIG. 8 illustrates a system for acquiring seismic data in accordancewith an embodiment.

FIG. 9 is a block diagram of a control circuitry of an underwatervehicle in accordance with an embodiment.

FIG. 10 illustrates a position of the underwater vehicle interlockingmechanism in accordance with an embodiment.

FIG. 11 illustrates a position of the underwater vehicle interlockingmechanism in accordance with an embodiment.

FIG. 12 depicts a flow diagram of a method for retrieving seismic dataacquisition unit from an ocean bottom in accordance with an embodiment.

FIG. 13 shows another example underwater vehicle that can be utilizedfor non-landing retrieval of seismic data acquisition unit in accordancewith an embodiment.

FIG. 14 depicts an example mechanism for a non-landing retrievaloperation in accordance with an embodiment.

FIG. 15 is a block diagram illustrating a general architecture for acomputer system that can be employed to implement various elements ofthe embodiments shown in FIGS. 1-14 .

DETAILED DESCRIPTION

Following below are more detailed descriptions of various conceptsrelated to, and implementations of, methods, apparatuses, and systemsfor delivering seismic data acquisition units to an ocean bottom usingan underwater vehicle. The various concepts introduced above anddiscussed in greater detail below may be implemented in any of numerousways.

Systems, methods, and apparatus of the present technical solutiongenerally relate to delivering seismic data acquisition units to targetlocations on the seabed. Where multiple seismic data acquisition unitsare to be delivered to multiple target locations, an underwater vehiclemay have to halt at each target location to deliver a seismic dataacquisition unit to the target location. With a large number of targetlocations, halting the underwater vehicle at each target location canconsiderably increase the total seismic data acquisition unit deploymenttime. Deploying the seismic data acquisition units while the underwatervehicle is in motion may result in imprecise positioning of the seismicdata acquisition units at their respective target locations.

Thus, systems, methods and apparatus of the present technical solutioncan deliver the seismic data acquisition units from a moving underwatervehicle with a zero (or near zero, such as 0.1 knots, 0.2 knots, 0.3knots, 0.4 knots, 0.5 knots, 1 knot, or 1.5 knots or less) horizontalvelocity with respect to the seabed, which causes the seismic dataacquisition units to drop substantially straight down (e.g., within plusor minus 20 degrees of straight down) to the target location without anyhorizontal displacement, thereby improving the precision with which theseismic data acquisition units can be delivered. The seismic dataacquisition units can be launched with a horizontal velocity componentthat is equal in magnitude to the magnitude of a horizontal velocitycomponent of the underwater vehicle. Further, the direction of thehorizontal velocity of the seismic data acquisition unit at the time oflaunch is opposite to the direction of the horizontal component of thevelocity of the underwater vehicle. This can result in zero or near zerohorizontal velocity of the seismic data acquisition unit when it islaunched from the underwater vehicle. Thus, the seismic data acquisitionunit can be precisely dropped on the target location by ensuring thatthe underwater vehicle is located above the target location at the timeof launch.

Referring to FIG. 1 , among others, an isometric schematic view of anembodiment of a seismic operation in deep water facilitated by a firstmarine vessel 5 is shown. A data processing system can obtain theseismic data via the seismic operation in order to process the seismicdata to detect or generate images indicating the presence or absence ofminerals, hydrocarbons, lithologic formations, metals, or other elementsor deposits. While this figure illustrates a deep water seismicoperation, the systems and methods described herein can use seismic dataobtained via streamer data, land-based seismic operations. In thisexample, the first vessel 5 is positioned on a surface 10 of a watercolumn 15 (also referred to as an “aqueous medium”) and includes a deck20 which supports operational equipment. At least a portion of the deck20 includes space for a plurality of sensor device racks 90 whereseismic sensor devices (or seismic data acquisition units or seismicdata acquisition units) are stored. The sensor device racks 90 may alsoinclude data retrieval devices or sensor recharging devices.

The deck 20 also includes one or more cranes 25A, 25B attached theretoto facilitate transfer of at least a portion of the operationalequipment, such as an autonomous underwater vehicle (AUV), autonomouslyoperated vehicle (AOV), a remotely operated underwater vehicle (ROV) orseismic sensor devices, from the deck 20 to the water column 15. Forexample, a crane 25A coupled to the deck 20 is configured to lower andraise an underwater vehicle (e.g., ROV 35A, AUV or AOV), which transfersand positions one or more sensor devices 30 (e.g., ocean bottomseismometer “OBS” units, seismic data acquisition units, or seismic dataacquisition units) on a seabed 55. The ROV 35A can be coupled to thefirst vessel 5 by a tether 46A and an umbilical cable 44A that providespower, communications, and control to the ROV 35A. A tether managementsystem (TMS) 50A is also coupled between the umbilical cable 44A and thetether 46A. Generally, the TMS 50A may be utilized as an intermediary,subsurface platform from which to operate the ROV 35A. For most ROV 35Aoperations at or near the seabed 55, the TMS 50A can be positionedapproximately 50 feet above seabed 55 and can pay out tether 46A asneeded for ROV 35A to move freely above seabed 55 in order to positionand transfer seismic sensor devices 030 thereon. The seabed 55 caninclude or refer to a continental shelf.

A crane 25B may be coupled (e.g., via a latch, anchor, nuts and bolts,screw, suction cup, magnet, or other fastener.) to a stern of the firstvessel 5, or other locations on the first vessel 5. Each of the cranes25A, 25B may be any lifting device or launch and recovery system (LARS)adapted to operate in a marine environment. The crane 25B may be coupledto a seismic sensor transfer device 100 by a cable 70. The transferdevice 100 may be a drone, a skid structure, a basket, or any devicecapable of housing one or more sensor devices 30 therein. The transferdevice 100 may be a structure configured as a magazine adapted to houseand transport one or more sensor devices 30. The transfer device 100 maybe configured as a sensor device storage rack for transfer of sensordevices 30 from the first vessel 5 to the ROV 35A, and from the ROV 35Ato the first vessel 5. The transfer device 100 may include an on-boardpower supply, a motor or gearbox, or a propulsion system. In someembodiments, the transfer device 100 may not include any integral powerdevices or not require any external or internal power source. In someembodiments, the cable 70 may provide power or control to the transferdevice 100. In some embodiments, the transfer device 100 can operatewithout external power or control. In some embodiments, the cable 70 mayinclude an umbilical, a tether, a cord, a wire, a rope, and the like,that is configured to support, tow, position, power or control thetransfer device 100.

The ROV 35A can include a seismic sensor device storage compartment 40that is configured to store one or more seismic sensor devices 30therein for a deployment or retrieval operation. The storage compartment40 may include a magazine, a rack, or a container configured to storethe seismic sensor devices. The storage compartment 40 may also includea conveyor, such as a movable platform having the seismic sensor devicesthereon, such as a carousel or linear platform configured to support andmove the seismic sensor devices 30 therein. In one embodiment, theseismic sensor devices 30 may be deployed on the seabed 55 and retrievedtherefrom by operation of the movable platform. The ROV 35A may bepositioned at a predetermined location above or on the seabed 55 andseismic sensor devices 30 are rolled, conveyed, or otherwise moved outof the storage compartment 40 at the predetermined location. In someembodiments, the seismic sensor devices 30 may be deployed and retrievedfrom the storage compartment 40 by a robotic device 60, such as arobotic arm, an end effector or a manipulator, disposed on the ROV 35A.

The seismic sensor device 30 may be referred to as seismic dataacquisition unit 30 or seismic data acquisition unit 30. The seismicdata acquisition unit 30 can record seismic data. The seismic dataacquisition unit 30 may include one or more of at least one geophone, atleast one power source (e.g., a battery, external solar panel), at leastone clock, at least one tilt meter, at least one environmental sensor,at least one seismic data recorder, at least global positioning systemsensor, at least one wireless or wired transmitter, at least onewireless or wired receiver, at least one wireless or wired transceiver,or at least one processor. The seismic sensor device 30 may be aself-contained unit such that all electronic connections are within theunit. During recording, the seismic sensor device 30 may operate in aself-contained manner such that the seismic data acquisition unit doesnot require external communication or control. The seismic sensor device30 may include several geophones configured to detect acoustic wavesthat are reflected by subsurface lithological formation or hydrocarbondeposits. The seismic sensor device 30 may further include one or moregeophones that are configured to vibrate the seismic sensor device 30 ora portion of the seismic sensor device 30 in order to detect a degree ofcoupling between a surface of the seismic sensor device 30 and a groundsurface. One or more component of the seismic sensor device 30 mayattach to a gimbaled platform having multiple degrees of freedom. Forexample, the clock may be attached to the gimbaled platform to minimizethe effects of gravity on the clock.

For example, in a deployment operation, a first plurality of seismicsensor devices, comprising one or more sensor devices 30, may be loadedinto the storage compartment 40 while on the first vessel 5 in apre-loading operation. The ROV 35A, having the storage compartmentcoupled thereto, is then lowered to a subsurface position in the watercolumn 15. The ROV 35A can utilize commands from personnel on the firstvessel 5 to operate along a course to transfer the first plurality ofseismic sensor devices 30 from the storage compartment 40 and deploy theindividual sensor devices 30 at selected locations on the seabed 55 orground surface 55 or sea floor 55 or earth surface 55 in a land baseddeployment. Once the storage compartment 40 is depleted of the firstplurality of seismic sensor devices 30, the transfer device 100 (ortransfer system 100) can be used to ferry a second plurality of seismicsensor devices 30 as a payload from first vessel 5 to the ROV 35A.

The transfer system 100 may be preloaded with a second plurality ofseismic sensor devices 30 while on or adjacent the first vessel 5. Whena suitable number of seismic sensor devices 30 are loaded onto thetransfer device 100, the transfer device 100 may be lowered by crane 25Bto a selected depth in the water column 15. The ROV 35A and transferdevice 100 are mated at a subsurface location to allow transfer of thesecond plurality of seismic sensor devices 30 from the transfer device100 to the storage compartment 40. When the transfer device 100 and ROV35A are mated, the second plurality of seismic sensor devices 30contained in the transfer device 100 are transferred to the storagecompartment 40 of the ROV 35A. Once the storage compartment 40 isreloaded, the ROV 35A and transfer device 100 are detached or unmatedand seismic sensor device placement by ROV 35A may resume. In oneembodiment, reloading of the storage compartment 40 is provided whilethe first vessel 5 is in motion. If the transfer device 100 is emptyafter transfer of the second plurality of seismic sensor devices 30, thetransfer device 100 may be raised by the crane 25B to the vessel 5 wherea reloading operation replenishes the transfer device 100 with a thirdplurality of seismic sensor devices 30. The transfer device 100 may thenbe lowered to a selected depth when the storage compartment 40 needs tobe reloaded. This process may repeat as needed until a desired number ofseismic sensor devices 30 have been deployed.

Using the transfer device 100 to reload the ROV 35A at a subsurfacelocation reduces the time required to place the seismic sensor devices30 on the seabed 55, or “planting” time, as the ROV 35A is not raisedand lowered to the surface 10 for seismic sensor device reloading.Further, mechanical stresses placed on equipment utilized to lift andlower the ROV 35A are minimized as the ROV 35A may be operated below thesurface 10 for longer periods. The reduced lifting and lowering of theROV 35A may be particularly advantageous in foul weather or rough seaconditions. Thus, the lifetime of equipment may be enhanced as the ROV35A and related equipment are not raised above surface 10, which maycause the ROV 35A and related equipment to be damaged, or pose a risk ofinjury to the vessel personnel.

Likewise, in a retrieval operation, the ROV 35A can utilize commandsfrom personnel on the first vessel 5 to retrieve each seismic sensordevice 30 that was previously placed on seabed 55. The retrieved seismicsensor devices 30 are placed into the storage compartment 40 of the ROV35A. In some embodiments, the ROV 35A may be sequentially positionedadjacent each seismic sensor device 30 on the seabed 55 and the seismicsensor devices 30 are rolled, conveyed, or otherwise moved from theseabed 55 to the storage compartment 40. In some embodiments, theseismic sensor devices 30 may be retrieved from the seabed 55 by arobotic device 60 disposed on the ROV 35A.

Once the storage compartment 40 is full or contains a pre-determinednumber of seismic sensor devices 30, the transfer device 100 can belowered to a position below the surface 10 and mated with the ROV 35A.The transfer device 100 may be lowered by crane 25B to a selected depthin the water column 15, and the ROV 35A and transfer device 100 aremated at a subsurface location. Once mated, the retrieved seismic sensordevices 30 contained in the storage compartment 40 are transferred tothe transfer device 100. Once the storage compartment 40 is depleted ofretrieved sensor devices, the ROV 35A and transfer device 100 aredetached and sensor device retrieval by ROV 35A may resume. Thus, thetransfer device 100 can ferry the retrieved seismic sensor devices 30 asa payload to the first vessel 5, allowing the ROV 35A to continuecollection of the seismic sensor devices 30 from the seabed 55. In thismanner, sensor device retrieval time is significantly reduced as the ROV35A is not raised and lowered for sensor device unloading. Further,mechanical stresses placed on equipment related to the ROV 35A areminimized as the ROV 35A may be subsurface for longer periods.

In this embodiment, the first vessel 5 may travel in a first direction75, such as in the +X direction, which may be a compass heading or otherlinear or predetermined direction. The first direction 75 may alsoaccount for or include drift caused by wave action, current(s) or windspeed and direction. In one embodiment, the plurality of seismic sensordevices 30 are placed on the seabed 55 in selected locations, such as aplurality of rows Rn in the X direction (R1 and R2 are shown) or columnsCn in the Y direction (C1, C2, C3, and C4 are shown), wherein n equalsan integer. In one embodiment, the rows Rn and columns Cn define a gridor array, wherein each row Rn comprises a receiver line in the width ofa sensor array (X direction) or each column Cn comprises a receiver linein a length of the sensor array (Y direction). The distance betweenadjacent sensor devices 30 in the rows is shown as distance LR and thedistance between adjacent sensor devices 30 in the columns is shown asdistance LC. While a substantially square pattern is shown, otherpatterns may be formed on the seabed 55. Other patterns includenon-linear receiver lines or non-square patterns. The pattern(s) may bepre-determined or result from other factors, such as topography of theseabed 55. In some embodiments, the distances LR and LC may besubstantially equal (e.g., plus or minus 10% of each other) and mayinclude dimensions between about 60 meters to about 400 meters. In someembodiments, the distances LR and LC may be different. In someembodiments, the distances LR or LC may include dimensions between about400 meters to about 1100 meters. The distance between adjacent seismicsensor devices 30 may be predetermined or result from topography of theseabed 55 as described above.

The first vessel 5 is operated at a speed, such as an allowable or safespeed for operation of the first vessel 5 and any equipment being towedby the first vessel 5. The speed may take into account any weatherconditions, such as wind speed and wave action, as well as currents inthe water column 15. The speed of the vessel may also be determined byany operations equipment that is suspended by, attached to, or otherwisebeing towed by the first vessel 5. For example, the speed is typicallylimited by the drag coefficients of components of the ROV 35A, such asthe TMS 50A and umbilical cable 44A, as well as any weather conditionsor currents in the water column 15. As the components of the ROV 35A aresubject to drag that is dependent on the depth of the components in thewater column 15, the first vessel speed may operate in a range of lessthan about 1 knot. For example, when two receiver lines (rows R1 and R2)are being laid, the first vessel includes a first speed of between about0.2 knots and about 0.6 knots. In some embodiments, the first speedincludes an average speed of between about 0.25 knots, which includesintermittent speeds of less than 0.25 knots and speeds greater thanabout 1 knot, depending on weather conditions, such as wave action, windspeeds, or currents in the water column 15.

During a seismic survey, one receiver line, such as row R1 may bedeployed. When the single receiver line is completed a second vessel 80can be used to provide a source signal. The second vessel 80 can beprovided with a source device 85, which may be a device capable ofproducing acoustical signals or vibrational signals suitable forobtaining the survey data. The source signal propagates to the seabed 55and a portion of the signal is reflected back to the seismic sensordevices 30. The second vessel 80 may be required to make multiplepasses, for example at least four passes, per a single receiver line(row R1 in this example). During the time the second vessel 80 is makingthe passes, the first vessel 5 continues deployment of a second receiverline. However, the time involved in making the passes by the secondvessel 80 can be shorter than the deployment time of the second receiverline. This causes a lag time in the seismic survey as the second vessel80 sits idle while the first vessel 5 is completing the second receiverline.

In some embodiments, the first vessel 5 can utilize an ROV 35A to laysensor devices to form a first set of two receiver lines (rows R1 andR2) in any number of columns, which may produce a length of eachreceiver line of up to and including several miles. The two receiverlines (rows R1 and R2) can be substantially parallel, e.g. within +/−20degrees of parallel. When a single directional pass of the first vessel5 is completed and the first set (rows R1, R2) of seismic sensor devices30 are laid to a predetermined length, the second vessel 80, providedwith the source device 85, is utilized to provide the source signal. Thesecond vessel 80 may make eight or more passes along the two receiverlines to complete the seismic survey of the two rows R1 and R2.

While the second vessel 80 is shooting along the two rows R1 and R2, thefirst vessel 5 may turn 180 degrees and travel in the −X direction inorder to lay seismic sensor devices 30 in another two rows adjacent therows R1 and R2, thereby forming a second set of two receiver lines. Thesecond vessel 80 may then make another series of passes along the secondset of receiver lines while the first vessel 5 turns 180 degrees totravel in the +X direction to lay another set of receiver lines. Theprocess may repeat until a specified area of the seabed 55 has beensurveyed. Thus, the idle time of the second vessel 80 is minimized asthe deployment time for laying receiver lines is cut approximately inhalf by deploying two rows in one pass of the vessel 5.

Although only two rows R1 and R2 are shown, the sensor device 30 layoutis not limited to this configuration as the ROV 35A may be adapted tolayout more than two rows of sensor devices in a single directional tow.For example, the ROV 35A may be controlled to lay out between three andsix rows of sensor devices 30, or an even greater number of rows in asingle directional tow. The width of a “one pass” run of the firstvessel 5 to layout the width of the sensor array is typically limited bythe length of the tether 46A or the spacing (distance LR) between sensordevices 30.

FIG. 2 is a system for acquiring seismic data in accordance with anembodiment. The system 200 can include an underwater vehicle 290. Theunderwater vehicle 290 can include one or more system, component orfunctionality of ROV 35A or AUV discussed above in relation to FIG. 1 .The underwater vehicle 290 can be tethered to a TMS 50A or a marinevessel 5. The underwater vehicle 290 can be controlled remotely oroperate autonomously or at least partially autonomously without externalcontrol or commands. The underwater vehicle 290 can include anautonomous underwater vehicle that is not tethered to a TMS 50A ormarine vessel 5. For example, the underwater vehicle can operateautonomously in a pre-programmed manner without external control orcommands. The underwater vehicle 290 can include a seismic dataacquisition unit storage compartment 235 that can store one or moreseismic data acquisition units 30. The seismic data acquisition units 30can include seismic data acquisition units 30 shown in FIG. 1 . Theunderwater vehicle 290 can include a base 230 that can support theseismic data acquisition unit storage compartment 235, a propulsionsystem 270, a robotic arm assembly 205, and a ramp 220. The propulsionsystem 270 can include one or more propellers, the rotation of which canpropel the underwater vehicle 290 in a desired direction at a desiredspeed. The propulsion system 270 can allow the underwater vehicle 290 tomove forward and back in any direction. For example, the propulsionsystem 270 also can control the orientation of the underwater vehicle290 by controlling the pitch, roll, and yaw of underwater vehicle 290.

The propulsion system 270 can include a mechanism to generate force,such as a propeller, a thruster, a paddle, an oar, a waterwheel, a screwpropeller, a fixed pitch propeller, a variable pitch propeller, a ductedpropeller, an azimuth propeller, a water jet, a fan, or a centrifugalpump. The propulsion system 270 can include a fluid propulsion systemsuch as a pump-jet, hydrojet, or water jet that can generate a jet ofwater for propulsion. The propulsion system 270 can include a mechanicalarrangement having a ducted propeller with a nozzle, or a centrifugalpump and nozzle. The propulsion system 270 can have an intake or inlet(e.g., facing a bottom or side of the underwater vehicle 290) thatallows water to pass into the propulsion system 270. The water can enterthe pump of the propulsion system through the inlet. The water pressureinside the inlet can be increased by the pump and forced backwardsthrough a nozzle. The propulsion system 270 can include a reversingbucket. With the use of a reversing bucket, reverse thrust can begenerated. The reverse thrust can facilitate slowing movement of thecase underwater vehicle 290, for example responsive to instructions froma control unit 605 (e.g., depicted in FIG. 6 ) in order to deploy ordischarge a seismic data acquisition unit 30.

The system 200 can include one or more propulsion systems 270. Thepropulsion systems 270 can be integrated with, or mechanically coupledto, a portion of the underwater vehicle 290. The propulsion system 270can be built into a portion of the underwater vehicle 290. Thepropulsion system 270 can be attached onto the portion of the underwatervehicle 290 using an attachment or coupling mechanism such as one ormore screws, bolts, adhesives, grooves, latches, or pins.

The system 200 can include multiple propulsion systems 270. For example,the system 200 can include one or more propulsions systems 270 on afirst portion of the underwater vehicle 290, and one or more propulsionsystems 270 on a second side of the underwater vehicle 290. The multiplepropulsions systems 270 can be centrally controlled or individuallycontrolled by a control unit 605. The multiple propulsions systems canbe independently activated or synchronously activated. For example, byinstructing the different propulsion systems to generate differentamounts of force, the system 200 can steer or control a direction ofmovement of the underwater vehicle 290.

The propulsion system 270 can be configured to rotate or change adirection or angle of force being exerted in order to steer theunderwater vehicle 290. The system 200, underwater vehicle 290 orpropulsion system 270 can include a steering device. The steering devicecan refer to a steering apparatus that includes multiple components. Thesteering device can receive instructions from the propulsion system 270or a control unit 605. The steering device can include, for example, arudder. In some embodiments, the steering device can include fins. Forexample, the steering device can include an actuator, spring-mechanism,or hinge that can pivot, rotate or change the orientation of the fin tosteer the underwater vehicle 290.

The steering device can use the propulsion system 270, or componentthereof, to steer the underwater vehicle 290. For example, thepropulsion system 270 can include a nozzle and pump-jets. The nozzle canprovide the steering of the pump-jets. Plates or rudders can be attachedto the nozzle in order to redirect the water flow from one side toanother side (e.g., port and starboard; right and left). The steeringdevice 290 can function similar to air thrust vectoring to provide apumpjet-powered system 200 with increased agility in the aqueous medium.

The robotic arm assembly 205 can be controlled to pick a seismic dataacquisition unit 30 from the seismic data acquisition unit storagecompartment and position the seismic data acquisition unit 30 on theramp 220. The robotic arm assembly 205 may be activated, for example, toplace the seismic data acquisition unit 30 on the ramp 220 at a time ofa launch event. The ramp 220 can include a first end 210 and a secondend 225. The first end 210 is positioned closer to the base 230 than thesecond end 225 during deployment. The ramp 220 is coupled to the base230 by way of a hinge 260 that allows the ramp 220 to pivot about theaxis of the hinge 260. A ramp cable winch 255 can be used to manipulatea cable 250 (or a wire or a chain) connected between the winch 55 andthe second end 225 of the ramp 220. The winch 255 can be controlled towind or unwind the cable 250 around a drum, thereby causing the secondend 225 of the ramp 220 to be pulled towards or away from the base 230.In effect, the winch 225 can be controlled to adjust the desired angle αbetween the ramp 220 and the base 230.

During operation, the underwater vehicle 290 can be controlled to travelover a seabed 55 near deployment location of the seismic dataacquisition unit 30. The robotic arm assembly 205 can be controlled toposition the seismic data acquisition unit 30 over the first end of theramp 220. The winch 255 can be controlled to lower the second end 225 ofthe ramp 220 to an extent such that the desired angle α between the ramp220 and the base 230 is achieved. As the second end 225 is below thefirst end 210 of the ramp, the seismic data acquisition unit 30 canslide down a sliding surface 265 of the ramp 220 from the first end 210towards the second end 225 of the ramp 220. When the seismic dataacquisition unit 30 reaches the second end 225 of the ramp, the seismicdata acquisition unit 30 can roll off of the ramp 220 and be depositedon the seabed 55. In some examples, the angle α can represent an anglebetween the ramp 220 and a horizontal plane.

To improve the precision with which the seismic data acquisition units30 are deployed at their respective target locations on the seabed 55,the seismic data acquisition unit 30 is deployed form the second end 225of the ramp 220 when the second end 225 is directly over the targetlocation of the seismic data acquisition unit 30. In addition, thehorizontal component of the velocity with which the seismic dataacquisition unit 30 is deployed from the second end 225 of the ramp 220is equal to zero, where the horizontal component of the velocity of theseismic data acquisition unit 30 is measured in a frame of referencethat includes the seabed 55. Thus, as the horizontal component ofvelocity of the seismic data acquisition unit 30 is equal to zero whenit rolls off of the second end 225 of the ramp 220, the seismic dataacquisition unit 30 falls directly downwards onto the seabed 55 and overthe target location.

FIG. 3 shows a schematic 300 of a ROV and a ramp for deploying seismicdata acquisition units. The schematic 300 depicts an underwater vehicle290 having an adjustable ramp 350. The underwater vehicle 290 canrepresent, or include one or more component or functionality of theunderwater vehicle 290 shown in FIG. 2 . The underwater vehicle 290 canbe positioned over the seabed 55 and traveling with a velocity VR,having a horizontal component 315 with a first magnitude and a firstdirection (e.g., positive x-direction), and having a vertical component310 with a second magnitude and a positive y-direction. The direction ofthe velocity VR of the underwater vehicle 290 can be represented in aframe of reference 365 that includes the seabed 55. The ramp 350 ispositioned at an angle α with respect to a base 335 of the underwatervehicle 290. The ramp 350 can have a length 345, measured between afirst end 320 and a second end 325 of the ramp 350, and a distance 340measured between the base 335 and the second end 325 of the ramp 350.

The ramp 350 is inclined such that when a seismic data acquisition unit30 is positioned on or near the first end 320 of the ramp 350, theseismic data acquisition unit 30 can slide down the first surface 330 ofthe ramp 350 towards the second end 325 of the ramp 350, and eventuallydrop off the second end 325 of the ramp 350 and onto the seabed 55. Whenthe seismic data acquisition unit 30 is positioned on or near the firstend 320 of the ramp 350, the seismic data acquisition unit 30accelerates down the first surface 330 of the ramp with a velocity VN355 relative to the ramp 350. The acceleration of the seismic dataacquisition unit 30 can be based on several factors, such as, forexample, the angle α the ramp 350 makes with the base 335 (or with thehorizontal plane X-Y of the plane or reference 365), the frictionalforce between the seismic data acquisition unit 30 and the first surface330, the velocity VR of the underwater vehicle 290, speed and directionof the ocean currents, bathymetry of the seabed 55, etc. Due to theacceleration of the seismic data acquisition unit 30 down the firstsurface 330 of the ramp 350, the velocity VN 355 of the seismic dataacquisition unit 30 relative to the ramp 350 will increase. The seismicdata acquisition unit 30 can continue to accelerate down the ramp 30until it reaches the second end 325 of the ramp 350, from where it islaunched towards the seabed 55.

FIG. 4 shows another schematic 400 of an underwater vehicle and a rampfor deploying seismic data acquisition units. The schematic 400 in FIG.4 depicts the seismic data acquisition unit 30 when it is launched fromthe second end 325 of the ramp 350. The seismic data acquisition unit 30can be launched from the second end 325 with a launch velocity VL havinga horizontal component 405 and a vertical component 410. The seismicdata acquisition unit 30 can be lunched from the second end 325 of theramp 350 such that a magnitude of the horizontal component 405 of thelaunch velocity VL is equal to zero. In one example, the seismic dataacquisition unit 30 can be launched from the second end 325 of the ramp350 such that the magnitude of the horizontal component 405 of thelaunch velocity VL is no more than 1/10^(th) knot or 0.05 meters persecond. In addition, the horizontal component 405 of the launch velocityVL can have a second direction that is opposite to the first directionof the horizontal component 315 of the velocity VR of the underwatervehicle 290. The horizontal component 315 of the velocity VR of theunderwater vehicle 290 can be in the positive-x direction in the frameof reference 365. On the other hand, the horizontal component 405 of thevelocity VN of the seismic data acquisition unit 30 when it is launchedfrom the second end 325 of the ramp 350 is in the opposite negative-xdirection in the frame of reference 365, and has a zero magnitude. Thezero magnitude of the horizontal component 405 ensures that when theseismic data acquisition unit 30 is launched from the second end 325 ofthe ramp 350, the seismic data acquisition unit 30 drops down in thenegative-z direction, or the direction of the vertical component 410, ofthe velocity VN of the seismic data acquisition unit 30, without anydisplacement in the horizontal direction.

The zero magnitude of the horizontal component 405 at launch ensuresthat when the second end 325 of the ramp 350 is positioned over a targetlocation, the seismic data acquisition unit 30 would drop straight downto the target location without any horizontal displacement. The velocityVR of the underwater vehicle 290 can be controlled to move towards thetarget location with a horizontal component 315 of the velocity VRhaving a first magnitude and a first direction. When the underwatervehicle 290 is at a predetermined distance or time from the targetlocation, the underwater vehicle 290 can be controlled to deploy theseismic data acquisition unit 30 at the first end 320 of the ramp 350.As an example, the robotic arm assembly (205, FIG. 2 ), of theunderwater vehicle 290 can be controlled to deliver the seismic dataacquisition unit 30 from the seismic data acquisition unit storagecompartment (235, FIG. 1 ) to the first end 320 of the ramp 350.

An instant when the seismic data acquisition unit 30 is deployed at thefirst end 320 of the ramp 350 can be referred to as a seismic dataacquisition unit deploy event. The seismic data acquisition unit deployevent can be timed based on the time T_(d-1) that the seismic dataacquisition unit 30 takes to slide down the first surface 330 of theramp 350 from the first end 320 to the second end 325 of the ramp 350.The time T_(d-1), in turn, can be based, in part, on the angle α of theramp, which in turn can be based on the desired magnitude of thehorizontal component 405 of the seismic data acquisition unit 30. Thus,the seismic data acquisition unit deploy event can occur T_(d-1) secondsbefore the second end 325 of the underwater vehicle 290 is expected toarrive directly over the target location for the seismic dataacquisition unit 30. In some examples, the seismic data acquisition unitdeploy event can be based on a distance from the target location. Forexample, a seismic data acquisition unit deploy distance from the targetlocation can be determined based on the magnitude of the horizontalcomponent 315 of the velocity VR of the seismic data acquisition unit 30and the time T_(d-1) that the seismic data acquisition unit 30 takes tolaunch after the seismic data acquisition unit 30 has been deployed atthe first end 320. The seismic data acquisition unit deploy event can beinitiated when the underwater vehicle 290, which is moving directlytowards the target location reaches a position such that the second end325 of the ramp 350 is at the seismic data acquisition unit deploydistance from the target location.

An instant when the seismic data acquisition unit 30 is launched fromthe second end 325 of the ramp 350 can be referred to as a seismic dataacquisition unit launch event. The seismic data acquisition unit launchevent can be ensured to occur when the second end 325 of the ramp 350 isdirectly over the target location of the seismic data acquisition unit30. The timing of the seismic data acquisition unit launch event can bedetermined based on several factors, such as, for example, the velocityVR of the underwater vehicle 290 and the instantaneous distance of thetarget location from the second end 325 of the ramp 350.

In one example, based on the speed of the underwater vehicle 290 and theinstantaneous distance between the underwater vehicle 290 and the targetlocation, the underwater vehicle 290 can, in real-time, determine theamount of time T_(to-target) that the second end 325 of the ramp 350 ofthe underwater vehicle 290 will take to reach the target location. Thedata acquisition unit deploy event can occur when that amount of time,T_(to-target), is equal to the time T_(d-1). At that instant, theseismic data acquisition unit 30 can be deployed at the first end 320.By the time the underwater vehicle 290 reaches the target location, theseismic data acquisition unit 30 would be launched from the second end325 of the ramp 350. As the angle α of the ramp 350 has been adjusted toensure a zero velocity horizontal component for the seismic dataacquisition unit 30, the seismic data acquisition unit 30 would belaunched from the second end 325 when the second end is over the targetlocation and drop directly down over the target location.

In one example, the underwater vehicle 290 can determine an accuracy andprecision of the deployment of the seismic data acquisition unit 30 onthe target location. The underwater vehicle 290 can communicate with theseismic data acquisition unit 30 to receive its location determined by aGPS system included in the seismic data acquisition unit 30. Theunderwater vehicle 290 can compare the location received from theseismic data acquisition unit 30 with the target location stored in thememory of the underwater unit 290. Upon detecting a difference over apredetermined threshold (such as, for example, one feet), the underwatervehicle 290 can adjust the timing of the deploy event to adjust for theinaccuracy in deployment.

In some examples, the ramp 350 can have a non-linear slope. The ramp 350can include a lip portion near the second end 325 of the ramp 350. Thelip portion can have a slope that is different from the slope of thefirst surface 330 of the ramp 350. The ramp 350 can include anintermediate end on the ramp 350 located between the first end 320 andthe second end 325. The portion of the ramp 350 extending between thefirst portion 320 and the intermediate end can be at an angle with thelip portion of the ramp 350 that extends between the intermediate endand the second end 325. As the seismic data acquisition unit 30 travelsdown the ramp 350, the seismic data acquisition unit 30 can pass overthe lip portion before being launched over the second end 320 of theramp 350. The angle between the lip portion and the remainder of theramp 350 can be selected to increase or decrease the acceleration of theseismic data acquisition unit 30 before it is launched over the secondend 325.

In some examples, the ramp 220 (FIG. 2 ), can be modified such thatfriction between the seismic data acquisition unit 30 and the firstsurface 265 can be reduced. Reducing the friction between the seismicdata acquisition unit 30 and the first surface 265 may be needed whenthe length of the ramp 220 is not sufficient to impart the desiredvelocity to the seismic data acquisition unit 30. In some such examples,the ramp 220 can include rollers over which the seismic data acquisitionunit 30 can roll towards the second end 225 of the ramp.

FIG. 5 depicts an example conveyer ramp 500. The conveyer ramp 500, forexample, can be used in place of the ramp 220 shown in FIG. 2 . Theconveyer ramp 500 can be a powered ramp that includes a first moveablesurface 505, the speed of which can be controlled by the underwatervehicle 290. The first moveable surface 505 can be an outer surface ofan endless belt 535 that is wrapped around a support structure 520, afirst pulley 525, and a second pulley 515. The first pulley 525 can bepositioned at a first end 530 of the conveyer ramp 500, while the secondpulley 515 can positioned at a second end 510 of the conveyer ramp 500.The underwater vehicle 290 can rotate the first pulley 525 and thesecond pulley 515 in concert to cause the belt 535 to rotate from thefirst end 530 to the second end 510 of the conveyer ramp 500. Theunderwater vehicle 290 can deploy the seismic data acquisition unit 30on the first moveable surface 505 at the first end 530 of the conveyerramp 500 while rotating the conveyer belt 535. The rotation of theconveyer belt 535 can cause the seismic data acquisition unit 30 to movefrom the first end 530 towards the second end 510, and be launched tothe seabed. The underwater vehicle 290 can control the speed of rotationof the conveyer belt 535 such that a horizontal component 405 of theseismic data acquisition unit 30 when launched from the second end 510of the conveyer ramp 500 has zero magnitude. In one example, the speedof the conveyer belt 535 can be set to be equal to cosine(α) times thehorizontal component of the velocity VR of the underwater vehicle 290,where α is the angle the conveyer ramp 500 makes with a base of theunderwater vehicle (or with the horizontal plane). In some examples, theconveyer ramp 500 can be positioned at a zero degree angle with the base230 (FIGS. 3 and 4 ) of the underwater vehicle 290.

FIG. 6 shows a block diagram of a control circuitry 600 of an underwatervehicle. For example, the control circuitry 600 can be utilized toimplement the control circuitry of the underwater vehicle 290 shown inFIG. 2 . The control circuitry 600 includes a control unit 605, a sensorunit 610, a ramp controller unit 615, and a navigation unit 620. Thecontrol unit 605 can refer to or include a deployment control unit. Thesensor unit 610 can be communicably connected to one or more sensors,such as, for example, a visual or image sensor 625, an audio sensor 630,an accelerometer 635, sonar 640, radar 645, and a LIDAR 650. The sensorunit 610 can be communicably coupled to additional sensor such as atemperature sensor, a pressure sensor, a light meter, a photodiode, a pHsensor, etc. The control unit 605, the sensor unit 610, the rampcontroller unit 615, and the navigation unit 620 can communicate over acommunication bus 655 (e.g., bus 1505 depicted in FIG. 15 ). The controlunit 605 can control the various operations of the underwater vehicle290 and can include programmable processors and memory, which can storedata and programs that can be executed for the operation of theunderwater vehicle 290.

The sensor unit 610 can provide an interface for communicating with andreceiving data from the sensors. In some examples, the control unit 605can request the sensor unit 610 to provide a sensor reading from thevarious sensors coupled to the sensor unit 610, in response to which thesensor unit 610 can obtain the desired data from the appropriate sensorand provide the data to the control unit 605. The navigation unit 620can control the navigation of the underwater vehicle 290. In someexamples, the control unit 605 can provide GPS coordinates of a targetlocation to the navigation unit 620, which can control the propulsionsystem of the underwater vehicle 290 such that the underwater vehicle290 can be navigated to the desired target location at a desired speedor within a desired time. The navigation unit 620 also can provide thecontrol unit 605 with the current location or coordinates of theunderwater vehicle 290. The ramp controller 615 can control theoperation of the ramp (220, FIG. 2 ) of the underwater vehicle 290. Forexample, the control unit 605 can provide a value for the angle α to theramp controller 615, which, in response, can control the winch 255 (FIG.2 ) of the underwater vehicle 290 such that the ramp 220 is positionedat the desired angle α. In instances where the ramp is a conveyer ramp(500, FIG. 5 ), the ramp controller 615, responsive to a speed valuereceived from the controller 605, may also control the speed of theconveyor belt. It is understood that functionality of the rampcontroller 615 can be carried out by another unit within the controlcircuitry 600.

FIG. 7 depicts a flow diagram of a method 700 for delivering seismicdata acquisition units to an ocean bottom. In some examples, the method700 can be executed by the control circuitry 600, shown in FIG. 6 . Themethod 700 includes receiving environmental information (ACT 705). Insome examples, the control circuitry 600 can receive environmentalinformation while the underwater vehicle 290 is underwater. In someexamples, the environmental information can include values ofenvironmental variables such as, for example, a velocity of theunderwater vehicle 290, an elevation of the underwater vehicle 290 abovethe seabed, a turbidity of the aqueous medium in which the underwatervehicle 290 is travelling, a temperature of the aqueous medium, atopology of the ocean bottom, a composition of the ocean bottom, and apresence of marine life or growths.

At least a portion of the environmental information can be determined bythe control circuitry 600. For example, as shown in FIG. 6 , the controlcircuitry 600 is communicably coupled to sensors such as a visual orimage sensor 625, an audio sensor 630, an accelerometer 635, sonar 640,radar 645, and a LIDAR 650, and additional sensors such as a temperaturesensor, pressure sensor, light meter, a photodiode, pH sensor, etc. Thecontrol circuitry 600 can use the data received from one or more ofthese sensors to determine the values of at least some of theenvironmental variables.

In some examples, at least a portion of the environmental informationcan be received by the control circuitry 600 from a surface vessel. Ininstances where the underwater vehicle 290 is not capable of measuring,or not in a position to measure, a value of a desired environmentalvariable, the value of the desired environmental variable can bereceived form a surface vessel, such as the surface vessel 20 shown inFIG. 1 . In one example, the desired environmental variables can includespeed and direction of the ocean currents, bathymetry of the seabed 55,etc. The surface vessel can utilize one or more sensors communicablycoupled to the surface vessel to measure the values of the desiredenvironmental variables, and communicate the values to the underwatervehicle 290 via a tether and/or cable, such as the umbilical cable 44Aand the tether 46A.

The method 700 further includes obtaining, based on the environmentalinformation and policy, an indication to perform fly-by deployment (ACT710). A fly-by deployment can include launching seismic data acquisitionunits while the underwater vehicle 290 is in motion. For example,referring to FIG. 2 , during a fly-by deployment, the underwater vehicle290 can launch seismic data acquisition units 30 from the ramp 220 whilethe underwater vehicle 290 is moving from one target location to anotherat a non-zero travel velocity VR. The control circuitry 600 candetermine whether to perform fly-by deployment based, in part, on theenvironmental information received by the control circuitry 600. Forexample, the control circuitry 600 can use values of environmentalvariables such as velocity of the underwater vehicle 290 and thelocation of the underwater vehicle 290 to determine whether to performfly-by deployment. The policy can specify one or more threshold valuesfor the environmental variables. The control circuitry 600 can comparethe received values of the environmental variables with the thresholdvalues specified by the policy to determine whether to perform fly-bydeployment. For example, the policy may specify that a fly-by deploymentmay not be performed if the travel velocity of the underwater vehicle290 is greater than 5 meters per second. The control circuitry 600 cancompare the current travel velocity with the threshold value of 5 metersper second, and if the current travel velocity is less than 5 meters persecond, the control circuitry 600 can determine that fly-by deploymentof seismic data acquisition units 30 can be performed.

In some examples, the control circuitry 600 can determine to perform thefly-by deployment based on detecting an absence of marine life at theocean bottom. The control circuitry 600 can utilize sensors such as, forexample, image sensors and radar to determine whether any marine life ispresent in the vicinity of the underwater vehicle 290 or in the vicinityof the target locations. Presence of marine life in the vicinity of theunderwater vehicle 290 or in the vicinity of the target locations canincrease the risk of damage to both the marine life and the underwatervehicle 290. In such instances, the control circuitry 600 may determineto abort fly-by deployment of seismic data acquisition units. Thecontrol circuitry 600, upon detecting the absence of marine life at theocean bottom, can determine that the fly-by deployment of seismic dataacquisition units can be performed.

In some examples, the control circuitry 600 can block fly-by deploymentupon detection of an obstruction. An obstruction can include marinelife, or other objects positioned on or over the sea bed. In someinstances, the control circuitry 600 may block fly-by deployment onlywhen the obstruction is detected along the path to the target locationof seismic data acquisition unit deployment. In some examples, thecontrol circuitry 600 can perform an emergency stopping method to stopthe underwater vehicle 290. For example, the control unit 30 caninstruct the navigation unit 620 to activate one or more reverse facingthrusters to decelerate and eventually stop the underwater vehicle 290.

In some examples, the control circuitry 600 can determine performingfly-by deployment based on a current of the aqueous medium. The oceancurrent can be a continuous, directed movement of ocean water. Highmagnitude ocean currents may affect the ability to control the operationof the underwater vehicle 290. Under such circumstances, deployment ofseismic data acquisition units may not be feasible or may accompany ahigh risk of inaccurate deployment. The control circuitry 600 canreceive the value of the ocean current in the vicinity of the underwatervehicle 290 or in the vicinity of one or more target locations, and ifthe value of the ocean current is below the threshold value, the controlcircuitry 600 can determine to perform fly-by deployment of the seismicdata acquisition unit.

In some examples, the control circuitry 600 can block a fly-bydeployment of a second seismic data acquisition unit responsive todetecting that a level of visibility is below a visibility threshold. Insome instances, the control circuitry 600 can cause the underwatervehicle 290 to abort fly-by deployment and land on the ocean bottom, ifthe level of visibility is below the visibility threshold.

In some examples, the control circuitry 600 can receive instructions toperform fly-by deployment. For example, a device outside of theunderwater vehicle 290, such as, the surface vehicle 20 can determinewhether to perform fly-by deployment, and communicate the determinationto the control circuitry 600 via the communication cable 44A and tether46A.

At ACT 715, the method 700 can further include setting, responsive tothe determination to perform fly-by deployment and based onenvironmental information, an angle of a ramp with respect to a base ofthe ROV. The control unit 605 of the control circuitry 600 shown in FIG.6 can determine an angle α of the ramp 220 to cause the seismic dataacquisition unit (e.g., 30, FIG. 4 ) to have a zero magnitude horizontalcomponent (405, FIG. 4 ) with respect to the seabed when the seismicdata acquisition unit is launched from the ramp 220. The control unit605 can determine the angle α based on one or more environmentalvariables, such as, for example, a horizontal component (315, FIG. 4 )of the travel velocity VR or the underwater vehicle 290, frictionalforces between the seismic data acquisition unit and the ramp (e.g., thefrictional coefficient of the ramp), buoyancy of the seismic dataacquisition unit, a current of the aqueous medium, etc.

The method 700 further includes identifying a launch event for a seismicdata acquisition unit (ACT 720). A launch event can denote an instant intime when the seismic data acquisition unit is launched form theunderwater vehicle 290. For example, referring to FIG. 4 , a launchevent can denote the instant in time when the seismic data acquisitionunit 30 is launched from the second end 325 of the ramp 350. The controlcircuitry 600 can determine the launch event based on one or morefactor, such as, for example, velocity VR of the underwater vehicle 290and the instantaneous distance of the target location from the secondend 325 of the ramp 350. In some examples, the ROV 309 can determine thetiming of the seismic data acquisition unit launch event by determininga time to the target location (T_(to-target)). In one example, theunderwater vehicle 290 can determine the seismic data acquisition unitdeploy event based on the determination of the seismic data acquisitionunit launch event, where the seismic data acquisition unit launch eventcan denote the instant in time when the seismic data acquisition unit isplaced on the first end 320 of the ramp 350. The control circuitry 600may also determine the launch event based on a location or a timingfunction, where the location corresponds to a target location for theseismic data acquisition unit or a location of the underwater vehicle290 when the seismic data acquisition unit is deployed.

The method 700 further includes deploying the seismic data acquisitionunit from the second end of the ramp towards the ocean bottom based onthe identification of the launch event and the environmental information(ACT 725). The control circuitry 600 can determine the launch event suchthat when the seismic data acquisition unit is launched from the secondend of the ramp, the seismic data acquisition unit is directed straightdown towards the target location on the seabed without any horizontaldisplacement. The control circuitry 600 can time the deployment of theseismic data acquisition unit at the first end of the ramp such that bythe time the seismic data acquisition unit is launched from the secondend, the seismic data acquisition unit is positioned over the targetlocation and the magnitude of the horizontal component of the velocityof the seismic data acquisition unit, with respect to the seabed, iszero.

Systems, methods, and apparatus of the present technical solutiongenerally also relate to retrieving seismic data acquisition units fromdeployment locations on the seabed. Where multiple seismic dataacquisition units are to be retrieved from multiple deploymentlocations, an underwater vehicle may have to halt at each deploymentlocation to retrieve a seismic data acquisition unit. With a largenumber of deployment locations, halting the underwater vehicle at eachdeployment location can considerable increase the total seismic dataacquisition unit retrieval time.

The moving underwater vehicle can retrieve seismic data acquisitionunits from the seabed without having to halt. The underwater vehicle caninclude an underwater vehicle interlocking mechanism that can beactivated when the underwater vehicle is in proximity to the deployedseismic data acquisition unit that needs to be retrieved. Theinterlocking mechanism can engage with a complimentary interlockingmechanism on the seismic data acquisition unit to retrieve the seismicdata acquisition unit. By retrieving the seismic data acquisition unitwhile in motion, the underwater vehicle can reduce the time needed toretrieve multiple seismic data acquisition units from the seabed.

Referring to FIG. 1 , the ROV 35A can be used to retrieve seismic dataacquisition units such as sensor devices 30 deployed on the seabed 55.The ROV 35A can be towed by the first vessel 5 various deploymentlocations. Once at a deployment location, the ROV 35A can retrieve thesensor devices 30 from the seabed and store the sensor devices 30 in astorage compartment 40 of the ROV 35A. The vessel 5 can continue to moveduring the retrieval operation, and need not stop when the ROV 35A isnear a deployment location. For example, a retrieval operation caninclude the vessel 5 traversing a route that travels over the first rowR1 and then travels over the second row R2. The ROV 35A can be towedover the sensor devices 30 deployed on the seabed 55 along the first rowR1 and the second row R2. While traversing the route over the row R1 ofsensor devices 30, the vessel 5 can continue to move in the +X directionwithout stopping, as the ROV 35A need not halt to retrieve the sensordevice 30 from the seabed 55. Once the vessel 5 reaches the end of therow R1, the vessel can take a 180 degree turn and travel in the −Xdirection along the second row R2. Again, the vessel 5 need not stopalong the route, as the ROV 35A can retrieve the sensor devices 30 formthe seabed 55 without having to halt. As the vessel 5 does not have tohalt at each location of the sensor devices 30, the amount of timeneeded to complete the retrieval operation can be reduced.

FIG. 8 illustrates a system for acquiring seismic data in accordancewith an embodiment. The system 800 can include an underwater vehicle890. The underwater vehicle 890 can include one or more system,component or functionality of ROV 35A or AUV discussed above in relationto FIG. 1 . The underwater vehicle 890 can include one or more system,component or functionality of the underwater vehicle 290 depicted inFIG. 2 . For example, the underwater vehicle 890 shown in FIG. 8 may notinclude a ramp, such as the ramp 220 in the underwater vehicle 290 shownin FIG. 2 . In another example, the underwater vehicle 890 can besimilar to the underwater vehicle 290 shown in FIG. 2 and include a rampsuch as the ramp 220. The ramp 220 can be deactivated or pulled upduring the retrieval operation.

The underwater vehicle 890 can include one or more underwater vehicleinterlocking mechanisms including, for example, a first robotic arm 805and a second robotic arm 810. The interlocking mechanism can alsoinclude, for example, a capture device such as, for example, a clamp, ahook, a clasp, a claw, a suction device, a suction cup, a magnet, or anelectromagnet. The second robotic arm 810 is shown in a foldedconfiguration, while the first robotic arm 805 is shown engaged with aseismic data acquisition unit 30 that is positioned on a portion of orextending from the base 230. The first robotic arm 805 or the secondrobotic arm 810 can be used for deployment or retrieval operations. Thefirst robotic arm 805 can be used for both deployment and retrievaloperations. The second robotic arm 810 can be used for both deploymentand retrieval operations. The underwater vehicle 890 can include onlyone of the first robotic arm 805 or the second robotic arm 810, or both.In some instances, one of the first robotic arm 805 and the secondrobotic arm 810 can be used exclusively for seismic data acquisitionunit 30 deployment, while the other of the first robotic arm 805 and thesecond robotic arm 810 can be used exclusively for retrieval of theseismic data acquisition units 30 from the seabed 55.

The underwater vehicle 890 can include a joint motor 840 designed,constructed and operational to move the first robotic arm 805 or thesecond robotic arm 810. The joint motor 840 can receive instructionsfrom a control circuitry, such as control circuitry 900. The joint motor840 can provide or exert lateral or rotational forces in one or moredegrees of freedom. The joint motor 840 can include an actuator, alinear actuator, rotational actuator, servo motor, geared motor, steppermotor, solenoid, or pneumatic or hydraulic motors.

The first robotic arm 805 (or underwater vehicle interlocking mechanism)can include an upper arm portion 815, an elbow portion 820, a forearmportion 825 and a gripper portion 830. One end of the upper arm portion815 can be coupled to the base 230, while a second end of the upper armportion 815 can be coupled to the elbow portion 820. The forearm portion825 extends between the elbow portion 820 and the gripper portion 830.The elbow portion 820 can include a pivoting mechanism that can allowthe forearm portion 825 with respect to the upper arm portion 815. Thegripper portion 830 can include, for example, a clamp, a hook, a clasp,a claw, a suction device, a suction cup, a magnet, or an electromagnetthat can allow the gripper portion 830 to engage (or mechanically engageor hold) with the sensor device 30. The gripper portion 830 can becapable of retrieving or grabbing the sensor device 30 from the seabed55 and positioning the sensor device 30 for storage, such as in thestorage compartment 235 or another storage container external ordifferent from the underwater vehicle 890. The first robotic arm 805 caninclude additional joints and rotating portions that can add additionaldegrees of freedom. The second robotic arm 810 can include one or morecomponent or functionality of the first robotic arm 805, such as, forexample, include an upper arm portion, an elbow portion, a forearmportion and a gripper portion.

The first robotic arm 805 depicted in FIG. 8 can illustrate theunderwater vehicle interlocking mechanism picking up the seismic dataacquisition unit 30 and placing the seismic data acquisition unit on aportion of the base 230 to facilitate storage or retrieval of theseismic data acquisition unit 30. The seismic data acquisition unit 30can include a seismic data acquisition unit interlocking mechanism 835,such as a loop or telltale, that can facilitate the gripper 830grabbing, engaging, or coupling with the seismic data acquisition unit30. The seismic data acquisition unit interlocking mechanism 835 can beconnected to the seismic data acquisition at one or more positions onthe seismic data acquisition units.

FIG. 9 shows a block diagram of a retrieval control circuitry 900 of anunderwater vehicle. For example, the retrieval control circuitry 900 canbe utilized to implement the control circuitry of the underwater vehicle890 shown in FIG. 8 . The retrieval control circuitry 900 can include acontrol unit 905 (e.g., a retrieval control unit), a sensor unit 910, aninterlocking mechanism controller 915, and a navigation unit 920. Thecontrol unit 905 of the retrieval control circuitry 900 can include oneor more component or functionality of control unit 605 depicted in FIG.6 . The sensor unit 910 of the retrieval control circuitry 900 caninclude one or more component or functionality of sensor unit 610depicted in FIG. 6 . The navigation unit 920 of the retrieval controlcircuitry 900 can include one or more component or functionality ofnavigation unit 620 depicted in FIG. 6 of the control circuitry 600 ofthe underwater vehicle 290 shown in FIG. 2 used for deployment of sensorunits 30. The control circuitry 900 shown in FIG. 9 used for controllingthe underwater vehicle 890 shown in FIG. 8 for retrieving sensor units30 can include the interlocking mechanism controller 915 instead of theramp controller 615.

The sensor unit 910 can be communicably connected to one or more sensorssuch as, for example, a visual or image sensor 925, an audio sensor 930,an accelerometer 935, sonar 940, radar 945, and a LIDAR 950. Lidar canrefer to a detection system that works on the principle of radar, butuses light from a laser. Lidar can measure distance to a target byilluminating the target with pulsed laser light and measuring thereflected pulses with a sensor. The sensor unit 910, the control unit905, the interlocking mechanism controller 915, and the navigation unit920 can communicate over a communication bus 955 (e.g., bus 1505depicted in FIG. 15 ).

The control circuitry 600 or 900 can include both the ramp controller615 and the interlocking mechanism controller 915. For example, theassociated underwater vehicle can have the combined capability to bothdeploy and to retrieve sensor units 30. In some such examples, both theramp controller 615 and the interlocking mechanism controller 915 can beconnected to the communication bus 655 or communication bus 955.

The interlocking mechanism controller 915 can control the operation ofthe interlocking mechanism (e.g., the first and second robotic arms 805and 810 shown in FIG. 8 ) of the underwater vehicle 890. For example,the interlocking mechanism controller 915 can control the positions ofthe first and second robotic arms 805 and 810 for retrieval of seismicdata acquisition units 30 from the seabed 55. In particular, theinterlocking mechanism controller 915 can control the first and thesecond robotic arm into at least a first position in which the roboticarm retrieves the seismic data acquisition unit 30 from the seabed 55and into at least a second position in which the robotic arm is disabledor retracted during travel between two deployment locations. Theinterlocking mechanism controller 915 can communicate with and/orinclude actuators (such as, for example, motors, solenoids, pumps, etc.)and sensors (such as, for example, proximity sensors, accelerometers,etc.).

FIG. 10 and FIG. 11 illustrate positions of the underwater vehicleinterlocking mechanism. In particular, FIG. 10 shows the first roboticarm 805 in a first position 1000, or a retrieval position 1000, whileFIG. 11 shows the first robotic arm 805 in a second position 1100, or aretracted position 1100. Referring to FIG. 10 , the control unit 905shown in FIG. 9 can instruct the interlocking mechanism controller 915to position the first robotic arm 805 in the first positon 1000 forretrieval of the seismic data acquisition unit 30. The seismic dataacquisition unit 30 can include a seismic data acquisition unitinterlocking mechanism 835 that can engage with the gripper portion 830of the first robotic arm 805. As an example, the seismic dataacquisition unit interlocking mechanism 835 can be a looped webbing,cable, or wire that can be grabbed by the gripper portion 830. In someexamples, the seismic data acquisition unit interlocking mechanism 835can include a clamp, a hook, or a magnet that can engage with acomplementary interlocking mechanism of the underwater vehicle 890. Insome examples, the seismic data acquisition unit interlocking mechanism835 can have a positive buoyancy in the aqueous medium. For example, theseismic data acquisition unit interlocking mechanism 835 can includematerials such as wood, fabric, polyester, plastics etc., that have adensity that is less than the density of the aqueous medium.

The interlocking mechanism controller 915 can actuate a joint motor 840that connects the first robotic arm 805 to the base 230 and an elbowportion 820, which connects the forearm portion 825 to the upper armportion 815, such that the gripper portion 830 moves away from the base230 and towards the position of the seismic data acquisition unit 30. Inparticular, the interlocking mechanism controller 915 can increase afirst angle between the forearm portion 825 and the upper arm portion815 to a value β1. The interlocking mechanism controller 915 may alsoincrease a second angle between the upper arm portion 815 and a verticalsurface 1010 (or vertical axis or reference) of or associated with theunderwater vehicle 890 to a value γ2. By increasing the value of atleast one of the first angle or the second angle, the gripper portion830 of the first robotic arm 805 can be moved away from the base 230 andtowards the seismic data acquisition unit 30. Further, the interlockingmechanism controller 915 can actuate the gripper portion 830 of thefirst robotic arm 805 to grab the seismic data acquisition unitinterlocking mechanism 835.

FIG. 11 shows the robotic arm 805 in the second position 1100. Thecontrol unit 605 can instruct the interlocking mechanism controller 915to set the first robotic arm 805 in the second position 1100, when, forexample, the underwater vehicle 890 is traveling between the locationsof two seismic data acquisition units 30, and to transfer the seismicdata acquisition unit 30 to the storage compartment 235 after theseismic data acquisition unit 30 has been grabbed by the first roboticarm 805. Responsive to receiving the instruction to set the firstrobotic arm 805 to the second position 1100, the interlocking mechanismcontroller can actuate the joint motor 840 or the elbow portion 820 sothat the first angle or the second angle are reduced such that thegripper portion 830 of the first robotic arm 805 is moved closer to thebase 230. For example, the interlocking mechanism controller 915 canreduce the first angle to a value β2 (β1) or the second angle to a valueγ2 (<γ1), such that the first robotic arm 805 is retracted. In instanceswhere the first robotic arm 805 is retrieving a seismic data acquisitionunit 30 that is attached to the gripper portion 830, the interlockingmechanism controller 915 can retract the first robotic arm 805 such thatthe retrieved seismic data acquisition unit 30 can be appropriatelypositioned in the storage compartment. In instances where the underwatervehicle 890 is traveling between deployment locations of seismic dataacquisition units 30, the interlocking mechanism controller 915 canretract the first robotic arm 805 such that it is at a safe distancefrom other components of the underwater vehicle 890 and from the seabed55. Retracting the robotic arm 805 can facilitate reducing energyconsumption by reducing the amount of drag force exerted on theunderwater vehicle 890 as the underwater vehicle 890 travels betweenseismic data acquisition unit locations on the seabed. Thus, the roboticarm 805 can facilitate efficient fly-by or hovering retrieval of theseismic data acquisition unit 30 as well as improve the efficiency withwhich the underwater vehicle 890 travels between retrieval operations.

FIG. 12 depicts a flow diagram of a method 1200 for retrieving seismicdata acquisition unit from an ocean bottom. The method 1200 can beexecuted by the control circuitry 900 shown in FIG. 9 . The method 1200includes receiving environmental information (ACT 1205). The controlcircuitry 900 can receive environmental information while the underwatervehicle 890 is underwater. In some examples, the environmentalinformation can include values of environmental variables such as, forexample, a velocity of the underwater vehicle 890, an elevation of theunderwater vehicle 890 above the seabed, a turbidity of the aqueousmedium in which the underwater vehicle 890 is travelling, a temperatureof the aqueous medium, a topology of the ocean bottom, a composition ofthe ocean bottom, and a presence of marine life or growths. In someexamples, the environmental information received by the controlcircuitry 900 can include acoustic information, such as, for example,acoustic signals responsive to transmission of an acoustic ping. Theaudio sensor can be used to capture the acoustic signals, and thecontrol circuitry 900 can analyze the received acoustic signals todetermine the presence of any obstacles, or the presence of seismic dataacquisition units.

At least a portion of the environmental information can be determined bythe control circuitry 900. For example, as shown in FIG. 9 , the controlcircuitry 900 is communicably coupled to sensors such as a visual orimage sensor 925, an audio sensor 930, an accelerometer 935, sonar 940,radar 945, and a lidar 950, and additional sensors such as a temperaturesensor, pressure sensor, light meter, a photodiode, pH sensor, etc. Thecontrol circuitry 900 can use the data received from one or more ofthese sensors to determine the values of at least some of theenvironmental variables.

In some examples, at least a portion of the environmental informationcan be received by the control circuitry 900 from a surface vessel. Ininstances where the underwater vehicle 890 is not capable of measuring,or not in a position to measure, a value of a desired environmentalvariable, the value of the desired environmental variable can bereceived form a surface vessel, such as the surface vessel 5 shown inFIG. 1 . In one example, the desired environmental variables can includespeed and direction of the ocean currents, bathymetry of the seabed 55,etc. The surface vessel 5 can utilize one or more sensors communicablycoupled to the surface vessel to measure the values of the desiredenvironmental variables, and communicate the values to the underwatervehicle 890 via a tether and/or cable, such as the umbilical cable 44Aand the tether 46A.

The method 1200 can include obtaining, based on the environmentalinformation and a policy, an indication to perform a non-landingretrieval operation (ACT 1210). The non-landing retrieval operation caninclude moving the seismic data acquisition unit 30 from the seabed 55to the storage container 235 without landing the underwater vehicle 890on the seabed 55. The control circuitry can determine whether to performthe non-landing retrieval operation based, in part, on the environmentalinformation received by the control unit 900. For example, the controlcircuitry 900 can use values of environmental variables such as velocityof the underwater vehicle 890 and the location of the underwater vehicle890 to determine whether to perform fly-by deployment. The policy canspecify one or more threshold values for the environmental variables.The control circuitry 900 can compare the received values of theenvironmental variables with the threshold values specified by thepolicy to determine whether to perform the non-landing retrievaloperation. For example, the policy may specify that a non-landingretrieval operation may not be performed if the travel velocity of theunderwater vehicle 890 is greater than 9 knots. The control circuitry900 can compare the current travel velocity with the threshold value of9 knots, and if the current travel velocity is less than 9 knots, thecontrol circuitry 900 can determine that a non-landing retrieval of theseismic data acquisition units 30 can be performed. In one example, thepolicy can specify threshold values for additional factors such as, forexample, speed and direction of the ocean currents, bathymetry of theseabed 55, etc.

In some examples, the control circuitry 900 can determine to perform thenon-landing retrieval operation based on detecting an absence of marinelife at the ocean bottom. The control circuitry 900 can utilize sensorssuch as, for example, image sensors and radar to determine whether anymarine life is present in the vicinity of the underwater vehicle 890 orin the vicinity of the locations were the seismic data acquisition units30 are deployed. The underwater vehicle 890 can use one or more imageinterpretation techniques to identify or detect marine life. Presence ofmarine life in the vicinity of the underwater vehicle 890 or in thevicinity of the seismic data acquisition units 30 can increase the riskof damage to both the marine life and the underwater vehicle 890. Insuch instances, the control circuitry 900 may determine to abort thenon-landing retrieval of the seismic data acquisition units 30. Thecontrol circuitry 900 can determine to slow the underwater vehicle 890to a low travel velocity or a standstill and to perform the retrieval ofthe seismic data acquisition unit 30 in response to detecting marinelife. For example, the control circuitry 900 can determine that risk tomarine life can be minimized or eliminated by landing the underwatervehicle 900 or performing a hover over retrieval operation, as opposedto traveling at a greater velocity (e.g., 2 knots, 3 knots or more)while performing the retrieval operation. The control circuitry 900,upon detecting the absence of marine life at the ocean bottom, candetermine that the non-landing retrieval of seismic data acquisitionunits can be performed.

In some examples, the control circuitry 900 can block the non-landingretrieval operation upon detection of an obstruction. An obstruction caninclude marine life, or other objects positioned on or over the sea bed.In some instances, the control circuitry 900 may block the non-landingretrieval operation only when the obstruction is detected along the pathto the deployment location of the seismic data acquisition unit. In someexamples, the control circuitry 900 can perform an emergency stoppingmethod to stop the underwater vehicle 890. For example, the control unit905 can instruct the navigation unit 920 to activate one or more reversefacing thrusters (e.g., propulsion system 270) to decelerate and stopthe underwater vehicle 890.

In some examples, the control circuitry 900 can determine to perform thenon-landing retrieval operation upon detecting that a current of theaqueous medium is below a threshold value. High magnitude ocean currentsmay affect the ability to control the operation of the underwatervehicle 890. Under such circumstances, retrieval of seismic dataacquisition units may not be feasible or may accompany a high risk ofdecoupling with or damage to the seismic data acquisition unit 30. Thecontrol circuitry 900 can measure the current of the ocean in thevicinity of the underwater vehicle 890. The control circuitry 900 alsomay receive the measured current values from the surface vessel 5. Thecontrol circuitry 900 can compare the measure current with a thresholdvalue provided by the policy. The control circuitry 900 may proceed toperform the non-landing retrieval operation only if the measured currentvalues are less than the current threshold value.

In some examples, the control circuitry 900 can block the retrieval of asubsequent seismic data acquisition unit 30 if the visibility at theocean bottom is below a visibility threshold value. For example, thecontrol circuitry 900 can use one or more sensors coupled to the sensorunit 910 to measure the visibility in the vicinity of the underwatervehicle 890. The control circuitry 900 can also store in memory a valueof the visibility threshold based on the policy. The control circuitry900 can compare the measured visibility with the visibility threshold,and block a non-landing retrieval operation of a subsequent seismic dataacquisition unit 30 if the visibility is below visibility threshold. Insome instances, where the control circuitry 900 determines to block thenon-landing retrieval operation, the control circuitry 900 can controlthe underwater vehicle 890 to instead perform a landing retrievaloperation. For example, the control circuitry 900 can instruct thenavigation unit 920 to land on the seabed 55 next to the seismic dataacquisition unit 30 that is to be retrieved. The control circuitry 900can then instruct the interlocking mechanism controller 915 to activatethe first robotic arm 805 to retrieve and then store the seismic dataacquisition unit 30 to the storage section 235.

The method 1200 further includes setting the underwater vehicleinterlocking mechanism to a retrieve position (ACT 1215). For example,the control circuitry 900, responsive to the indication to perform anon-landing retrieval operation, and based on the location of anidentified seismic data acquisition unit 30, can instruct theinterlocking mechanism controller to set the position of the firstrobotic arm 805 to a first position 1000. The first positon 1000 of thefirst robotic arm 805 is the retrieval positon, in which the robotic arm805 can retrieve the seismic data acquisition unit 30 from the seabed.In the retrieve position, the gripping portion 830 of the first roboticarm 805 is extended away from the base 230, and towards the seismic dataacquisition unit 30 on the seabed 55.

In some examples, the control circuitry 900 can set the first roboticarm 805 to a first or retrieve position 805 by instructing theinterlocking mechanism controller 915 to appropriately set the firstangle between the forearm portion 825 and the upper arm portion 815and/or set the second angle between the upper arm portion 815 and avertical surface 1010 of the underwater vehicle 890, to appropriatevalues such that the seismic data acquisition unit 30 is within reach ofthe first robotic arm 805, as shown in FIG. 10 .

In some examples, the control circuitry 900 can set the first and/or thesecond angle of the first robotic arm 805 based on environmentalinformation and a location of an identified seismic data acquisitionunit 30 on the seabed. The control circuitry 900 can determine adistance between the underwater vehicle 890 and the seismic dataacquisition unit based on a previously known location of the seismicdata acquisition unit 30 or based on real time detection using visual orother sensors coupled to the sensor unit 910. As shown in FIG. 10 , themagnitude of the first and the second angles can determine the reach ofthe first robotic arm 805. The control circuitry 900 can monitor thedistance between the underwater vehicle 890 and the seismic dataacquisition unit 30, and when the distance is less than the reach of thefirst robotic arm 805, the control circuitry 900 can instruct theinterlocking mechanism controller 915 to set the first robotic arm 805in the first or retrieve position.

The method 1200 also includes retrieving the seismic data acquisitionunit 30 from the seabed (ACT 1220). For example, the control circuitry900 can instruct the interlocking mechanism controller 915 to positionand control the first robotic arm 805 such that the seismic dataacquisition unit 30 on the seabed is coupled with the first robotic arm805. The interlocking mechanism controller 915 can control the grippingportion 830 of the first robotic arm 805 such that the gripping portion830 engages and couples with the seismic data acquisition unitinterlocking mechanism 835 of the seismic data acquisition unit 30. Thegripper portion 830 may include one or more hooks or gripping fingers,the relative positions of which can be controlled to either grip orrelease objects therebetween. The interlocking mechanism controller 915can control the gripper portion 830 grip and lift the seismic dataacquisition unit 30 from the seabed 55.

The method 1200 can include storing the seismic data acquisition unit inthe storage container (ACT 1225). The control circuitry 900 can instructthe interlocking mechanism controller 915 to position the first roboticarm 805 such that the seismic data acquisition unit 30 retrieved fromthe seabed 55 is provided to the storage compartment or container 235.For example, the interlocking mechanism controller 915 can control thefirst robotic arm 805 such that the gripping portion 830 to which theseismic data acquisition unit 30 retrieved from the seabed 55 iscoupled, is retracted from the first position 1000 to a position thatallows the first robotic arm 805 to dispose the seismic data acquisitionunit 30 over the storage compartment 235. The interlocking mechanismcontroller 915 can control the gripper portion 830 to release theseismic data acquisition unit 30 so that the seismic data acquisitionunit 30 is stored in the storage compartment 235.

The method 1200 includes setting the underwater vehicle interlockingmechanism in a second position (ACT 1230). The control circuitry 900 cancontrol the first robotic arm 805 such that the first robotic arm 805 isset in a second position to perform the non-landing retrieval operationfor a second seismic data acquisition unit. For example, the controlcircuitry 900 can control the first robotic arm 805 such that therobotic arm is set in the second position 1100 shown in FIG. 11 .

FIG. 13 illustrates another example underwater vehicle 1300 that can beutilized for non-landing retrieval of seismic data acquisition unit. Theunderwater vehicle 1300 can include one or more component orfunctionality of underwater vehicle 890 depicted in FIG. 8 . Theunderwater vehicle 1300 shown in FIG. 13 can include a telescopicmechanism 1305 for capturing and retrieving the seismic data acquisitionunit 30 from the seabed. The telescopic mechanism 1305 can allow forfly-by retrieval at a travel velocity greater than 0 knots whileminimizing damage or disturbance to the seismic data acquisition unit 30or the seabed 55. By providing the telescopic mechanism 1305, theunderwater vehicle 1300 of the present technical solution can continuemoving at a first travel velocity while the gripper 830 appears to bestationary or moving at a second travel velocity less than the firsttravel velocity relative to the seismic data acquisition unit 30 locatedon the seabed 30.

The telescopic mechanism 1305 can include at least an outer stationarymember 1310 and an inner member moveable member 1315. The inner moveablemember 1315 is partially positioned within the outer stationary member1310 and can be configured to at least partially move in and out of theouter stationary member 1310. An end of the inner moveable member 1315can be coupled to an arm member 1320 a distal end of which is coupled toa gripper portion 830. During a non-landing retrieving operation, thecontrol circuitry 900 can navigate the underwater vehicle 1300 towardsthe location of the seismic data acquisition unit 30 for retrieving theseismic data acquisition unit 30 from the seabed 55. In the process ofapproaching the seismic data acquisition unit 30, the control circuitry900 can detect a distance 1325 of the underwater vehicle 1300 from theseismic data acquisition unit 30. The control circuitry 900 can comparethe measured distance with a first threshold distance. As an example,the threshold distance can represent a horizontal reach of the gripperportion 830. Upon detecting that the measured distance 1325 is less thanthe first threshold distance, the control circuitry 900 can instruct theinterlocking mechanism controller 915 to control the telescopicmechanism 1305 such that the inner moveable member 1315 is extended outof the outer stationary member 1310. The interlocking mechanismcontroller 915 can continue to extend the inner moveable member 1315until the gripper portion 830 engages and couples with the seismic dataacquisition unit interlocking mechanism 835. The interlocking mechanismcontroller 915 can then control the gripper portion 830 to lift theseismic data acquisition unit 30 from the seabed 55 and control theinner moveable member 1315 to retract into the outer stationary member1310 to an extent that allows the gripper portion 830 to position anddispose the seismic data acquisition unit 30 in the storage compartment235.

In some instances, the gripper portion 830 can be implemented using asuction device. The suction device can be coupled to an air flow pumpthat sucks air from an opening in the suction device. When the suctiondevice is positioned over the seismic data acquisition unit 30, theseismic data acquisition unit 30 can be sucked towards and adhere to thesuction device. In some such instances, the interlocking mechanismcontroller 915 can control the telescopic mechanism 1305 such that theinner moveable member 1315 is extended out before the underwater vehicle1300 approaches the seismic data acquisition unit 30. When theunderwater vehicle 1300 is close enough to the seismic data acquisitionunit 30 such that the suction device attached to the arm portion 1320 isdirectly above the seismic data acquisition unit 30, the controlcircuitry 900 can lower the arm portion and activate the suction device.In addition, the control circuitry 900 can begin retracting the innermoveable member 1315 as the underwater vehicle 1300 moves towards theseismic data acquisition unit 30, such that the suction device ismaintained in contact with the seismic data acquisition unit 30. Thisprovides the suction device enough time to securely adhere to theseismic data acquisition unit 30. Once the seismic data acquisition unit30 is securely adhered to the suction device, the control circuitry 900can retract the arm portion 1320 such that the seismic data acquisitionunit 30 is lifted form the seabed 55. In some instances, the controlcircuitry 900 can continue to measure the distance between theunderwater vehicle 1300 and the seismic data acquisition unit 30 whilethe suction device is being activated. If the control circuitry 900detects that the seismic data acquisition unit 30 is not securelycoupled to the suction device by a second threshold distance (less thanthe first threshold distance), the control circuitry 900 can determinethat the seismic data acquisition unit 30 cannot be securely lifted offof the seabed while still maintaining the forward motion of theunderwater vehicle 1300. Upon this determination, the control circuitry900 can deactivate the suction device, and move on to retrieve anotherseismic data acquisition unit 30 or turn back and try to retrieve thesame seismic data acquisition unit 30 again.

FIG. 14 depicts an example mechanism for a non-landing retrievaloperation. In particular, FIG. 14 shows a top view of the underwatervehicle 890 travelling over the seabed 55. The underwater vehicle 890can move in the direction 1420 subsequent to retrieving a first seismicdata acquisition unit 1405 (e.g., a seismic data acquisition unit 30)and move towards a second seismic data acquisition unit 1410 (e.g., aseismic data acquisition unit 30) and a third seismic data acquisitionunit 1415 (e.g., a seismic data acquisition unit 30). Subsequent toretrieving the first seismic data acquisition unit 1405 the controlcircuitry 900 can control the underwater vehicle 890 to travel at afirst speed. While traveling in the direction 1420, the controlcircuitry 900 can continue to detect the location of the second seismicdata acquisition unit 1410. The first location 1425 can indicate alocation in relation to the second seismic data acquisition unit 1410where the control circuitry 900 positively identifies the location ofthe second seismic data acquisition unit 1410. Once the controlcircuitry 900 identifies the second seismic data acquisition unit 1410,the control circuitry 900 can initiate a reduction in the speed of theunderwater vehicle 890 to a second speed. In some examples, the secondspeed can be a non-zero speed. The control circuit 900 can reduce thespeed of the underwater vehicle 890 to reduce the risk of not being ableto successfully couple to, and retrieve, the second seismic dataacquisition unit 1410. The control circuit 900 can reduce the speed tothe second speed to reduce the risk of damage or disturbance to theseismic data acquisition unit 1410 or the seabed 55. For example,disturbance to the seabed 55 can cause dirt or debris to be expelledfrom the seabed 55 and increase the turbidity of the water. Disturbanceto the seismic data acquisition unit 1410 can cause damage the outercasing or internal components of the seismic data acquisition unit 1410,thereby reducing the longevity of the unit 1410 or causing loss ofseismic data stored on the unit 1410. Thus, by moving at a second speedless than the first speed, the underwater vehicle 890 can reduce oreliminate the risk of damage or disturbance to a seismic dataacquisition unit or seabed, while improving efficiencies in theretrieval operation by reducing energy or other resource usage and theduration of the retrieval operation, relative to stopping and landing onthe seabed in order to retrieve the unit 1410. Further, when, theunderwater vehicle 890 lands on the seabed 55 to retrieve the unit 1410,debris to be expelled. Thus, a hover-over retrieval operation canprovide technical improvements relative to a landing retrieval.

The control circuitry 900 can then control underwater vehicle 890 toretrieve the second seismic data acquisition unit 1410. Subsequent toretrieval of the second seismic data acquisition unit 1410, the controlcircuitry 900 can initiate an increase in the speed of the underwatervehicle 890 back to the first speed. For example, the control circuitry900 can wait until it reaches a second location 1430 before it initiatesthe increase in the speed back to the first speed. In some instances,the distance of the second location 1430 from the location of the secondseismic data acquisition unit 1410 can be less than the distance betweenthe first location 1425 and the location of the second seismic dataacquisition unit 1410.

In some examples, both the fly-by deployment features discussed above inrelation to FIGS. 1-7 , and the non-landing retrieval feature discussedabove in relation to FIGS. 1, 8-14 can be combined into a singleunderwater vehicle. For example, an underwater vehicle can include boththe ramp 220 for deployment of seismic data acquisition units as well asthe interlocking mechanism to retrieve deployed seismic data acquisitionunits. Similarly, a control circuitry for such a combined underwatervehicle can include the units of both the control circuitry 600 shown inFIG. 6 and the control circuitry 900 shown in FIG. 9 .

FIG. 15 is a block diagram of a computer system 1500 in accordance withan embodiment. The computer system or computing device 1500 can be usedto implement one or more controller, sensor, interface or remote controlof system 200, system 300, system 400, system 500, system 600, method700, system 800, system 900, system 1000, system 1100, method 1200,system 1300, and system 1400. The computing system 1500 includes a bus1505 or other communication component for communicating information anda processor 1510 a-n or processing circuit coupled to the bus 1505 forprocessing information. The computing system 1500 can also include oneor more processors 1510 or processing circuits coupled to the bus forprocessing information. The computing system 1500 also includes mainmemory 1515, such as a random access memory (RAM) or other dynamicstorage device, coupled to the bus 1505 for storing information, andinstructions to be executed by the processor 1510. Main memory 1515 canalso be used for storing seismic data, binning function data, images,reports, tuning parameters, executable code, temporary variables, orother intermediate information during execution of instructions by theprocessor 1510. The computing system 1500 may further include a readonly memory (ROM) 1520 or other static storage device coupled to the bus1505 for storing static information and instructions for the processor1510. A storage device 1525, such as a solid state device, magnetic diskor optical disk, is coupled to the bus 1505 for persistently storinginformation and instructions.

The computing system 1500 may be coupled via the bus 1505 to a display1535 or display device, such as a liquid crystal display, or activematrix display, for displaying information to a user. An input device1530, such as a keyboard including alphanumeric and other keys, may becoupled to the bus 1505 for communicating information and commandselections to the processor 1510. The input device 1530 can include atouch screen display 1535. The input device 1530 can also include acursor control, such as a mouse, a trackball, or cursor direction keys,for communicating direction information and command selections to theprocessor 1510 and for controlling cursor movement on the display 1535.

The processes, systems and methods described herein can be implementedby the computing system 1500 in response to the processor 1510 executingan arrangement of instructions contained in main memory 1515. Suchinstructions can be read into main memory 1515 from anothercomputer-readable medium, such as the storage device 1525. Execution ofthe arrangement of instructions contained in main memory 1515 causes thecomputing system 1500 to perform the illustrative processes describedherein. One or more processors in a multi-processing arrangement mayalso be employed to execute the instructions contained in main memory1515. In some embodiments, hard-wired circuitry may be used in place ofor in combination with software instructions to effect illustrativeimplementations. Thus, embodiments are not limited to any specificcombination of hardware circuitry and software.

Although an example computing system has been described in FIG. 15 ,embodiments of the subject matter and the functional operationsdescribed in this specification can be implemented in other types ofdigital electronic circuitry, or in computer software, firmware, orhardware, including the structures disclosed in this specification andtheir structural equivalents, or in combinations of one or more of them.

Embodiments of the subject matter and the operations described in thisspecification can be implemented in digital electronic circuitry, or incomputer software, firmware, or hardware, including the structuresdisclosed in this specification and their structural equivalents, or incombinations of one or more of them. The subject matter described inthis specification can be implemented as one or more computer programs,e.g., one or more circuits of computer program instructions, encoded onone or more computer storage media for execution by, or to control theoperation of, data processing apparatus. Alternatively or in addition,the program instructions can be encoded on an artificially generatedpropagated signal, e.g., a machine-generated electrical, optical, orelectromagnetic signal that is generated to encode information fortransmission to suitable receiver apparatus for execution by a dataprocessing apparatus. A computer storage medium can be, or be includedin, a computer-readable storage device, a computer-readable storagesubstrate, a random or serial access memory array or device, or acombination of one or more of them. Moreover, while a computer storagemedium is not a propagated signal, a computer storage medium can be asource or destination of computer program instructions encoded in anartificially generated propagated signal. The computer storage mediumcan also be, or be included in, one or more separate components or media(e.g., multiple CDs, disks, or other storage devices).

The operations described in this specification can be performed by adata processing apparatus on data stored on one or morecomputer-readable storage devices or received from other sources. Theterm “data processing apparatus” or “computing device” encompassesvarious apparatuses, devices, and machines for processing data,including by way of example a programmable processor, a computer, asystem on a chip, or multiple ones, or combinations of the foregoing.The apparatus can include special purpose logic circuitry, e.g., an FPGA(field programmable gate array) or an ASIC (application specificintegrated circuit). The apparatus can also include, in addition tohardware, code that creates an execution environment for the computerprogram in question, e.g., code that constitutes processor firmware, aprotocol stack, a database management system, an operating system, across-platform runtime environment, a virtual machine, or a combinationof one or more of them. The apparatus and execution environment canrealize various different computing model infrastructures, such as webservices, distributed computing and grid computing infrastructures.

A computer program (also known as a program, software, softwareapplication, script, or code) can be written in any form of programminglanguage, including compiled or interpreted languages, declarative orprocedural languages, and it can be deployed in any form, including as astand-alone program or as a circuit, component, subroutine, object, orother unit suitable for use in a computing environment. A computerprogram may, but need not, correspond to a file in a file system. Aprogram can be stored in a portion of a file that holds other programsor data (e.g., one or more scripts stored in a markup languagedocument), in a single file dedicated to the program in question, or inmultiple coordinated files (e.g., files that store one or more circuits,subprograms, or portions of code). A computer program can be deployed tobe executed on one computer or on multiple computers that are located atone site or distributed across multiple sites and interconnected by acommunication network.

Processors suitable for the execution of a computer program include, byway of example, both general and special purpose microprocessors, andany one or more processors of any kind of digital computer. Generally, aprocessor will receive instructions and data from a read only memory ora random access memory or both. The essential elements of a computer area processor for performing actions in accordance with instructions andone or more memory devices for storing instructions and data. Generally,a computer will also include, or be operatively coupled to receive datafrom or transfer data to, or both, one or more mass storage devices forstoring data, e.g., magnetic, magneto optical disks, or optical disks.However, a computer need not have such devices. Moreover, a computer canbe embedded in another device, e.g., a personal digital assistant (PDA),a Global Positioning System (GPS) receiver, or a portable storage device(e.g., a universal serial bus (USB) flash drive), to name just a few.Devices suitable for storing computer program instructions and datainclude all forms of non-volatile memory, media and memory devices,including by way of example semiconductor memory devices, e.g., EPROM,EEPROM, and flash memory devices; magnetic disks, e.g., internal harddisks or removable disks; magneto optical disks; and CD ROM and DVD-ROMdisks. The processor and the memory can be supplemented by, orincorporated in, special purpose logic circuitry.

To provide for interaction with a user, implementations of the subjectmatter described in this specification can be implemented on a computerhaving a display device, e.g., a CRT (cathode ray tube) or LCD (liquidcrystal display) monitor, for displaying information to the user and akeyboard and a pointing device, e.g., a mouse or a trackball, by whichthe user can provide input to the computer. Other kinds of devices canbe used to provide for interaction with a user as well; for example,feedback provided to the user can be any form of sensory feedback, e.g.,visual feedback, auditory feedback, or tactile feedback; and input fromthe user can be received in any form, including acoustic, speech, ortactile input.

While various inventive embodiments have been described and illustratedherein, those of ordinary skill in the art will readily envision avariety of other means or structures for performing the function orobtaining the results or one or more of the advantages described herein,and each of such variations or modifications is deemed to be within thescope of the inventive embodiments described herein. More generally,those skilled in the art will readily appreciate that all parameters,dimensions, materials, and configurations described herein are meant tobe exemplary and that the actual parameters, dimensions, materials, orconfigurations will depend upon the specific application or applicationsfor which the inventive teachings are used. The foregoing embodimentsare presented by way of example, and within the scope of the appendedclaims and equivalents thereto other embodiments may be practicedotherwise than as specifically described and claimed. The systems andmethods described herein are directed to each individual feature,system, article, material, or kit, described herein. In addition, anycombination of two or more such features, systems, articles, materials,kits, or methods, if such features, systems, articles, materials, kits,or methods are not mutually inconsistent, is included within theinventive scope of the present disclosure.

The above-described embodiments can be implemented in any of numerousways. For example, the embodiments may be implemented using hardware,software or a combination thereof. When implemented in software, thesoftware code can be executed on any suitable processor or collection ofprocessors, whether provided in a single computer or distributed amongmultiple computers.

Also, a computer may have one or more input and output devices. Thesedevices can be used, among other things, to present a user interface.Examples of output devices that can be used to provide a user interfaceinclude printers or display screens for visual presentation of outputand speakers or other sound generating devices for audible presentationof output. Examples of input devices that can be used for a userinterface include keyboards, and pointing devices, such as mice, touchpads, and digitizing tablets. As another example, a computer may receiveinput information through speech recognition or in other audible format.

Such computers may be interconnected by one or more networks in anysuitable form, including a local area network or a wide area network,such as an enterprise network, and intelligent network (IN) or theInternet. Such networks may be based on any suitable technology and mayoperate according to any suitable protocol and may include wirelessnetworks, wired networks or fiber optic networks.

A computer employed to implement at least a portion of the functionalitydescribed herein may comprise a memory, one or more processing units(also referred to herein simply as “processors”), one or morecommunication interfaces, one or more display units, and one or moreuser input devices. The memory may comprise any computer-readable media,and may store computer instructions (also referred to herein as“processor-executable instructions”) for implementing the variousfunctionalities described herein. The processing unit(s) may be used toexecute the instructions. The communication interface(s) may be coupledto a wired or wireless network, bus, or other communication means andmay therefore allow the computer to transmit communications to orreceive communications from other devices. The display unit(s) may beprovided, for example, to allow a user to view various information inconnection with execution of the instructions. The user input device(s)may be provided, for example, to allow the user to make manualadjustments, make selections, enter data or various other information,or interact in any of a variety of manners with the processor duringexecution of the instructions.

The various methods or processes outlined herein may be coded assoftware that is executable on one or more processors that employ anyone of a variety of operating systems or platforms. Additionally, suchsoftware may be written using any of a number of suitable programminglanguages or programming or scripting tools, and also may be compiled asexecutable machine language code or intermediate code that is executedon a framework or virtual machine.

In this respect, various inventive concepts may be embodied as acomputer readable storage medium (or multiple computer readable storagemedia) (e.g., a computer memory, one or more floppy discs, compactdiscs, optical discs, magnetic tapes, flash memories, circuitconfigurations in Field Programmable Gate Arrays or other semiconductordevices, or other non-transitory medium or tangible computer storagemedium) encoded with one or more programs that, when executed on one ormore computers or other processors, perform methods that implement thevarious embodiments of the solution discussed above. The computerreadable medium or media can be transportable, such that the program orprograms stored thereon can be loaded onto one or more differentcomputers or other processors to implement various aspects of thepresent solution as discussed above.

The terms “program” or “software” are used herein in a generic sense torefer to any type of computer code or set of computer-executableinstructions that can be employed to program a computer or otherprocessor to implement various aspects of embodiments as discussedabove. Additionally, it should be appreciated that according to oneaspect, one or more computer programs that when executed perform methodsof the present solution need not reside on a single computer orprocessor, but may be distributed in a modular fashion amongst a numberof different computers or processors to implement various aspects of thepresent solution.

Computer-executable instructions may be in many forms, such as programmodules, executed by one or more computers or other devices. Generally,program modules include routines, programs, objects, components, datastructures, or other components that perform particular tasks orimplement particular abstract data types. Typically the functionality ofthe program modules may be combined or distributed as desired in variousembodiments.

Also, data structures may be stored in computer-readable media in anysuitable form. For simplicity of illustration, data structures may beshown to have fields that are related through location in the datastructure. Such relationships may likewise be achieved by assigningstorage for the fields with locations in a computer-readable medium thatconvey relationship between the fields. However, any suitable mechanismmay be used to establish a relationship between information in fields ofa data structure, including through the use of pointers, tags or othermechanisms that establish relationship between data elements.

Also, various inventive concepts may be embodied as one or more methods,of which an example has been provided. The acts performed as part of themethod may be ordered in any suitable way. Accordingly, embodiments maybe constructed in which acts are performed in an order different thanillustrated, which may include performing some acts simultaneously, eventhough shown as sequential acts in illustrative embodiments.

The indefinite articles “a” and “an,” as used herein in thespecification and in the claims, unless clearly indicated to thecontrary, should be understood to mean “at least one.” References to“or” may be construed as inclusive so that any terms described using“or” may indicate any of a single, more than one, and all of thedescribed terms.

As used herein in the specification and in the claims, the phrase “atleast one,” in reference to a list of one or more elements, should beunderstood to mean at least one element selected from any one or more ofthe elements in the list of elements, but not necessarily including atleast one of each and every element specifically listed within the listof elements and not excluding any combinations of elements in the listof elements. This definition also allows that elements may optionally bepresent other than the elements specifically identified within the listof elements to which the phrase “at least one” refers, whether relatedor unrelated to those elements specifically identified. Thus, as anon-limiting example, “at least one of A and B” (or, equivalently, “atleast one of A or B,”) can refer, in one embodiment, to at least one,optionally including more than one, A, with no B present (and optionallyincluding elements other than B); in another embodiment, to at leastone, optionally including more than one, B, with no A present (andoptionally including elements other than A); in yet another embodiment,to at least one, optionally including more than one, A, and at leastone, optionally including more than one, B (and optionally includingother elements); etc.

In the claims, as well as in the specification above, all transitionalphrases such as “comprising,” “including,” “carrying,” “having,”“containing,” “involving,” “holding,” “composed of,” and the like are tobe understood to be open-ended, i.e., to mean including but not limitedto. Only the transitional phrases “consisting of” and “consistingessentially of” shall be closed or semi-closed transitional phrases,respectively.

What is claimed is:
 1. A method of retrieving seismic data acquisitionunits from an underwater seismic survey, comprising: providing, anunderwater vehicle having an underwater vehicle interlocking mechanism;identifying, by the underwater vehicle, a first seismic data acquisitionunit located on an ocean bottom, the first seismic data acquisition unithaving a seismic data acquisition unit interlocking mechanism, theseismic data acquisition unit interlocking mechanism complimentary tothe underwater vehicle interlocking mechanism; obtaining, by theunderwater vehicle, an indication to perform a non-landing retrievaloperation; setting, responsive to the indication to perform thenon-landing retrieval operation, a first position of the underwatervehicle interlocking mechanism; detecting that the underwater vehicle iswithin a threshold distance from the first seismic data acquisitionunit; activating, by a telescoping mechanism of the underwater vehicleresponsive to the detection that the underwater vehicle is within thethreshold distance from the first seismic data acquisition unit, theunderwater vehicle interlocking mechanism towards the seismic dataacquisition unit interlocking mechanism of the underwater vehicle; andretrieving, by the underwater vehicle in performance of the non-landingretrieval operation, the first seismic data acquisition unit byactivating the underwater vehicle interlocking mechanism and couplingthe underwater vehicle interlocking mechanism with the seismic dataacquisition unit interlocking mechanism.
 2. The method of claim 1,comprising: storing, by the underwater vehicle, the first seismic dataacquisition unit in a storage container.
 3. The method of claim 1,comprising: setting, by the underwater vehicle, the underwater vehicleinterlocking mechanism in a second position to perform the non-landingretrieval operation for a second seismic data acquisition unit.
 4. Themethod of claim 1, comprising: the underwater vehicle having a base andthe underwater vehicle interlocking mechanism configured to couple withthe base.
 5. The method of claim 1, comprising: obtaining, by theunderwater vehicle based on environmental information and a policy, theindication to perform the non-landing retrieval operation, thenon-landing retrieval operation comprises: moving, without landing theunderwater vehicle on the ocean bottom, seismic data acquisition unitsfrom the ocean bottom to a storage container, wherein the seismic dataacquisition units are storing seismic data that is indicative ofsubsurface lithological formations or hydrocarbons.
 6. The method ofclaim 1, comprising: setting, responsive to the indication to performthe non-landing retrieval operation and based on environmentalinformation and a location of the identified first seismic dataacquisition unit, the first position of the underwater vehicleinterlocking mechanism.
 7. The method of claim 1, comprising:retrieving, by the underwater vehicle in performance of the non-landingretrieval operation, the first seismic data acquisition unit byactivating the underwater vehicle interlocking mechanism away from abase and coupling the underwater vehicle interlocking mechanism with theseismic data acquisition unit interlocking mechanism.
 8. The method ofclaim 1, comprising: determining, by a control unit that is external andremote from the underwater vehicle, to perform the non-landing retrievaloperation; and transmitting, by the control unit, the indication to theunderwater vehicle.
 9. The method of claim 1, comprising: retrieving, bythe underwater vehicle, the first seismic data acquisition unit bycoupling the seismic data acquisition unit interlocking mechanism withthe underwater vehicle interlocking mechanism of the first seismic dataacquisition unit while hovering over the ocean bottom.
 10. The method ofclaim 1, comprising: determining to perform the non-landing retrievaloperation responsive to detecting an absence of marine life at an oceanbottom.
 11. The method of claim 1, comprising: determining, for thefirst seismic data acquisition unit, to perform the non-landingretrieval operation responsive to detecting a current of an aqueousmedium below a current threshold; blocking, for a second seismic dataacquisition unit, the non-landing retrieval operation responsive todetecting a level of visibility below a visibility threshold; andlanding, by the underwater vehicle responsive to the blocking of thenon-landing retrieval operation, on the ocean bottom to retrieve thesecond seismic data acquisition unit.
 12. The method of claim 1,comprising: blocking, for a second data acquisition unit, thenon-landing retrieval operation responsive to detection of anobstruction; and performing, by the underwater vehicle, an emergencystopping process using multiple reverse facing thrusters.
 13. The methodof claim 1, wherein the underwater vehicle comprises a robotic armcoupled with the seismic data acquisition unit interlocking mechanism,comprising: setting an angle of the robotic arm to position the seismicdata acquisition unit interlocking mechanism to retrieve the firstseismic data acquisition unit based on environmental information and alocation of the identified first seismic data acquisition unit.
 14. Themethod of claim 1, comprising: detecting that the underwater vehicle iswithin a threshold distance from the first seismic data acquisitionunit; activating the underwater vehicle interlocking mechanism to couplewith the seismic data acquisition unit interlocking mechanism; andsubsequent to retrieval of the first seismic data acquisition unit bythe underwater vehicle, deactivate the underwater vehicle interlockingmechanism.
 15. The method of claim 1, comprising: determining a locationof the first seismic data acquisition unit using an acoustic beacon. 16.The method of claim 1, wherein: the underwater vehicle interlockingmechanism is mechanically decoupled from the first seismic dataacquisition unit; and the seismic data acquisition unit interlockingmechanism comprises at least one of a hook or a clamp.
 17. The method ofclaim 1, comprising: identifying, by the underwater vehicle, an objecton the ocean bottom; and determining, based on a seismic dataacquisition unit detection policy, not to retrieve the object.
 18. Asystem to retrieve seismic data acquisition units from an underwaterseismic survey, comprising: an underwater vehicle coupled with anunderwater vehicle interlocking mechanism, the underwater vehiclecomprises: one or more sensors to determine environmental information;and a retrieval control unit executed by one or more processors to:identify a seismic data acquisition unit located on an ocean bottom, theseismic data acquisition unit coupled with a seismic data acquisitionunit interlocking mechanism, the seismic data acquisition unitinterlocking mechanism complimentary to the underwater vehicleinterlocking mechanism; obtain an indication to perform a non-landingretrieval operation of seismic data acquisition units from the oceanbottom; set, a position of the underwater vehicle interlocking mechanismfrom the underwater vehicle; detect that the underwater vehicle iswithin a threshold distance from the seismic data acquisition unit;activate, by a telescoping mechanism of the underwater vehicleresponsive to the detection that the underwater vehicle is within thethreshold distance from the seismic data acquisition unit, theunderwater vehicle interlocking mechanism towards the seismic dataacquisition unit interlocking mechanism of the underwater vehicle; andcouple, in performance of the non-landing retrieval operation, theunderwater vehicle interlocking mechanism with the seismic dataacquisition unit interlocking mechanism to retrieve the seismic dataacquisition unit.
 19. The system of claim 18, comprising: the underwatervehicle to hover over the ocean bottom and couple the seismic dataacquisition unit interlocking mechanism with the underwater vehicleinterlocking mechanism of the seismic data acquisition unit to retrievethe seismic data acquisition unit.